JP2023528604A - Mobile robot battery system and method - Google Patents

Abstract

The exoskeleton system includes a power system that provides power to the exoskeleton system, the power system including one or more battery slots, and a modular battery set including one or more battery units that are modular such that the exoskeleton system is powered when any of the one or more battery units are modular and can be easily and quickly removed and coupled within any of the one or more battery slots. [Selection drawing] Fig. 6

Description

CROSS-REFERENCE TO RELATED APPLICATIONS This application is filed May 27, 2020 and is entitled "POWERED DEVICE FOR IMPROVED USER MOBILITY AND MEDICAL TREATMENT," U.S. Provisional Patent Application No. 63/030, relating to Attorney Docket No. 0110496-010PR0. , 586, to which priority is claimed. This application is incorporated herein by reference in its entirety for all purposes.

This application is a non-compliance with U.S. Provisional Patent Application Serial No. 63/058,825, filed July 30, 2020 and entitled "POWERED DEVICE TO BENEFIT A WEARER DURING TACTICAL APPLICATIONS," relating to Attorney Docket No. 0110496-011PR0. It is a provisional patent application to which priority is claimed. This application is incorporated herein by reference in its entirety for all purposes.

This application is a non-compliance with U.S. Provisional Patent Application No. 63/133,689, having Attorney Docket No. It is a provisional patent application to which priority is claimed. This application is incorporated herein by reference in its entirety for all purposes.

In addition, this application is filed on the same date as this application, and includes attorney docket numbers 0110496-010US0, 0110496-012US0, 0110496-014US0, 0110496-015US0, 0110496-016US0 and 0110496-017US0, respectively, "POWERED MEDICAL DEVICE AND METHODS FOR IMPROVED USER MOBILITY AND TREATMENT”, “FIT AND SUSPENSION SYSTEMS AND METHODS FOR A MOBILE ROBOT”, “CONTROL SYSTEM AND METHOD FOR A MOBILE ROBOT”, “USER INTERFACE AND FEEDBACK SYSTEMS AND METHODS FOR A MOBILE ROBOT”, “DATA LOGGING AND XX/YYY, ZZZ, XX/YYY, ZZZ, XX/YYY, ZZZ, XX/YYY, ZZZ, XX/ US nonprovisional applications, including YYY, ZZZ and XX/YYY, ZZZ. These applications are hereby incorporated by reference in their entireties for all purposes.

FIG. 11 is an exemplary illustration of an embodiment of an exoskeleton system worn by a user; FIG. FIG. 10 is a front view of one embodiment of a leg actuation unit coupled to one leg of a user; Figure 4 is a side view of the leg actuation unit of Figure 3 coupled to a user's leg; Figure 5 is a perspective view of the leg actuation unit of Figures 3 and 4; 1 is a block diagram illustrating an exemplary embodiment of an exoskeleton system; FIG. 1 illustrates an example embodiment of a power system and modular battery set. FIG. 4B illustrates a side view of a pneumatic actuator in a compressed configuration, according to one embodiment. Figure 7b shows a side view of the pneumatic actuator of Figure 7a in an expanded configuration; FIG. 4B shows a side cross-sectional view of a pneumatic actuator in a compressed configuration according to another embodiment. Figure 8b shows a side cross-sectional view of the pneumatic actuator of Figure 8a in an expanded configuration; FIG. 10B shows a top view of a pneumatic actuator in a compressed configuration according to another embodiment; Figure 9b shows a top view of the pneumatic actuator of Figure 9a in an expanded configuration; FIG. 4B shows a top view of a constraining rib of a pneumatic actuator according to one embodiment. FIG. 4 shows a cross-sectional view of a bellows of a pneumatic actuator according to another embodiment; 11b shows a side view of the pneumatic actuator of FIG. 11a in an expanded configuration showing the cross-section of FIG. 11a; FIG. 1 illustrates an exemplary flat material that is substantially inextensible along one or more planar axes of the flat material while flexible in other directions;

Note that the figures are not drawn to scale and that elements of similar structure or function are generally represented by like reference numerals for purposes of description throughout the figures. Also note that the figures are intended only to facilitate the description of the preferred embodiment. The figures are not intended to depict all aspects of the described embodiments, and are not intended to limit the scope of the disclosure.

The present disclosure provides exemplary embodiments of novel power and battery management systems and associated methods for mobile electronic devices. This battery management system, in some instances, has unique advantages in body-worn applications and, even more specifically, can be directly applied to the development of wearable robots such as exoskeletons. Systems and methods such as these can provide particular advantages in a variety of application areas, including recreational, consumer, military, first responder, or healthcare. Each of these applications requires storing a sufficient amount of power to operate the system on-board while balancing the user's desire to reduce weight as much as possible. This disclosure describes various embodiments of such power supply systems and battery management systems and their integration into various exemplary systems.

The present disclosure teaches how to design, integrate, and operate various embodiments of power systems and battery management systems designed for mobile powered devices. One preferred embodiment is to integrate the power supply system and battery management system into a powered wearable robotic device designed to introduce mechanical power to one or more joints of the user. Such an embodiment has been introduced in some instances where it may otherwise be inconvenient to integrate all battery capacities to complete all potential behaviors the user envisions. Due to the amount of power that may need to be applied, it can be of particular interest. While some specific high power embodiments are the focus of discussion in various examples herein, it will be clear that this is for illustrative purposes only. Therefore, there is no limit to applying the power system or battery management system to other mobile powered devices.

The following disclosure also includes exemplary embodiments of novel exoskeleton device designs. Various preferred embodiments include a leg brace with integrated actuation, a mobile power source, and a control unit that determines the output behavior of the device in real time.

A component of the exoskeleton system present in various embodiments is a wearable lower extremity orthosis that incorporates the ability to transmit torque to the user. A preferred embodiment of this component is a leg brace configured to support the user's knee, the leg brace having actuation across the knee joint to provide assist torque in the direction of extension. This embodiment may be coupled to the user via a series of attachments, which may include above the user's shoe, below the knee, and along the thigh. This preferred embodiment can include this type of leg brace on both legs of the user.

The present disclosure teaches exemplary embodiments of fluidic exoskeleton systems that include one or more adjustable fluidic actuators. Some preferred embodiments include fluid actuators that can operate at various pressure levels over large stroke lengths in configurations that can be adapted to joints of the human body.

As discussed herein, exoskeleton system 100 may be configured for a variety of suitable uses. For example, FIGS. 1-3 show an exoskeleton system 100 in use by a user. As shown in FIG. 1, user 101 can wear exoskeleton system 100 on both legs 102 . 2 and 3 show front and side views of actuator unit 110 coupled to one leg 102 of user 101, and FIG. 4 shows a side view of actuator unit 110 not worn by user 101. FIG.

As shown in the example of FIG. 1, the exoskeleton system 100 may include left and right leg actuator units 110L, 110R coupled to the user's left and right legs 102L, 102R, respectively. In various embodiments, the left and right leg actuator units 110L, 110R can be substantially mirror images of each other.

As shown in FIGS. 1-4, leg actuator unit 110 may include upper arm 115 and lower arm 120 rotatably coupled via joint 125 . Bellows actuator 130 extends between upper arm 115 and lower arm 120 . As discussed herein, one or more sets of pneumatic lines 145 are coupled to bellows actuator 130 such that injection and/or removal of fluid from bellows actuator 130 causes bellows actuator 130 to expand and contract. , can be rigid and flexible. Backpack 155 can be worn by user 101 and can hold various components of exoskeleton system 100 such as fluid sources, control systems, power supplies, and the like.

As shown in FIGS. 1-3, the leg actuator units 110L, 110R are positioned around the legs 102L, 102R of the user 101, respectively, using joints 125 positioned at the knees 103L, 103R of the user 101. The upper arms 115 of the leg actuator units 110L, 110R can be coupled around the thighs 104L, 104R of the user 101 via one or more couplers 150 (eg, straps surrounding the legs 102). can be combined with The lower arms 120 of the leg actuator units 110L, 110R can be coupled around the lower legs 105L, 105R of the user 101 via one or more couplers 150.

Upper arm 115 and lower arm 120 of leg actuator unit 110 may be coupled around leg 102 of user 101 in any suitable manner. For example, FIGS. 1-3 show an example where upper and lower arms 115 and 120 and joints 125 of leg actuator unit 110 are coupled along the outer surfaces (sides) of top 104 and bottom 105 of leg 102 . As shown in the examples of FIGS. 1-3, the upper arm 115 can be coupled to the thigh 104 of the leg 102 above the knee 103 via two couplers 150 and the lower arm 120 can be coupled to the two couplers. It can be connected to the lower leg 105 of the leg 102 below the knee 103 via 150 .

Specifically, the upper arm 115 can be coupled to the thigh 104 of the leg 102 above the knee 103 via a first set of couplers 250A including a first coupler 150A and a second coupler 150B. . First coupler 150A and second coupler 150B extend around thigh 104 of leg 102 while straps 151 of first coupler 150A and second coupler 150B extend around thigh 104 of leg 102. It can be joined by a rigid plate assembly 215 located on the outside. Upper arm 115 can be coupled to plate assembly 215 on the outside of thigh 104 of leg 102 so that forces generated by upper arm 115 can be transmitted to thigh 104 of leg 102 . .

The lower arm 120 may be coupled to the lower leg 105 of the leg 102 below the knee 103 via a second set of couplers 250B including a third coupler 150C and a fourth coupler 150D. Coupling branch unit 220 may extend from or be defined by the distal end of lower arm 120 . Coupling branch unit 220 may include a first branch 221 . The first branch extends from a lateral position on the lower leg 105 of the leg 102, with the first attachment 222 joining the third coupler 150C and the first branch 221 of the coupling branch unit 220 to the knee. It curves upward and toward the front side of the lower leg 105 with respect to the first attachment 222 on the front side (front) of the lower leg 105 below 103 . Coupling branch unit 220 may include a second branch 223 . The second branch extends from a lateral position on the lower leg 105 of the leg 102, with the second attachment 224 joining the fourth coupler 150D and the second branch 223 of the coupling branch unit 220 to the knee. Lower leg 103 and curved to the rear of leg 105 with respect to second attachment 224 on the rear side (posterior) of leg 105 below 103 .

The fourth coupler 150D can be configured to surround and engage the user's shoe 191, as shown in the examples of FIGS. For example, the straps 151 of the fourth coupler 150D can be of a size that allows the fourth coupler 150D to enclose a shoe 191 that has a large diameter compared to the lower leg 105 of the leg 102 alone. Also, the length of the lower arm 120 and/or the coupling branch unit 220 is such that when the leg actuator unit 110 is worn by the user, the fourth coupler 150D is positioned on the lower leg 105 of the leg 102 above the shoe 191. It can be of sufficient length, but not of short length, so that the fourth coupler 150D is positioned over the shoe 191 to enclose the section.

Attachments to shoe 191 may vary across different embodiments. In one embodiment, this attachment can be accomplished with flexible straps. The leg actuator unit 110 is attached to the shoe 191 by wrapping the flexible strap around the shoe 191 with the desired amount of relative momentum between the leg actuator unit 110 and the strap. Other embodiments may function to limit various degrees of freedom, while allowing desired amounts of relative motion between leg actuator unit 110 and shoe 191 in other degrees of freedom. One such embodiment can include the use of a mechanical clip that can be coupled to the dorsal side of shoe 191 to provide a specific mechanical connection between the device and shoe 191. . Various embodiments are listed above: mechanical screw connection, rigid strap, magnetic coupling, electromagnetic coupling, electromechanical coupling, insertion into user's shoe, rigid or flexible cable, or direct coupling to 192 can include, but are not limited to, designed designs.

Another aspect of exoskeleton system 100 can be the fitting components used to secure exoskeleton system 100 to user 101 . Various embodiments adapt the exoskeleton system 100 to efficiently transfer forces between the user 101 and the exoskeleton system 100 without causing the exoskeleton system 100 to drift significantly in the body 101 or cause discomfort. Because the function of the exoskeleton system 100 can be highly dependent on the user, some embodiments improve the fit of the exoskeleton system 100 and monitor the fit of the exoskeleton system 100 to the user over time. This may be desirable for the overall functionality of exoskeleton system 100 .

In various examples, different couplers 150 can be configured for different purposes, some couplers 150 primarily for force transmission, others for securing an attachment of the exoskeleton system 100 to the body 101. There can also be couplers configured. In one preferred embodiment for a single knee system, couplers 150 (e.g., one or both of couplers 150C, 150D) located on lower leg 105 of user 101 are intended for body fitting. so that it can be flexible to conform to the body of the user 101 and remain flexible. Alternatively, in this embodiment, a coupler 150 (e.g., one or both of couplers 150A, 150B) that affixes to the front of the user's thigh on thigh 104 of leg 102 targets the transmission needs. , and may have a tighter attachment to the body than the rest of couplers 150 (eg, one or both of couplers 150C, 150D). Various embodiments may employ various strap or coupling configurations, and these embodiments may be expanded to include any variety of suitable straps, couplings, etc., and similar coupling configurations. The two sets described above are intended to meet these different needs.

In some cases, the design of joints 125 can improve the fit of exoskeleton system 100 on the user. In one embodiment, the joint 125 of the leg actuator unit 110 for one knee can be designed to use a single axis joint with some deviations in the physiology of the knee joint. Another embodiment uses a multi-axis knee joint that better matches the motion of the human knee joint, and in some instances can be desirably paired with a very well-matched leg actuator unit 110. . Various embodiments of joint 125 can include, but are not limited to, the exemplary elements listed above such as ball and socket joints, four-bar linkages, and the like.

Some embodiments may include adjustments within the varus or valgus angle at the lower leg 105 to accommodate anatomical variations. A preferred embodiment includes adjustments built into the leg actuator units 110 in the form of cross straps that span the joints of the knees 103 of the user 101, and when the cross straps can be tightened, the adjustment in the coronal plane. A moment can be imparted across the knee joint that changes the nominal resting angle. Various embodiments provide the following for user 101, a strap spanning joint 125, a mechanical assembly including a screw that can be adjusted to change the angle of joint 125, and a It can include, but is not limited to, mechanical inserts and the like that can be added to the leg actuator unit 110 to deliberately change the default angle of the joint 125 .

In various embodiments, the leg actuator unit 110 can be configured to remain suspended on the leg 102 and remain properly aligned with the knee 103 joint. In one embodiment, a coupler 150 (eg, coupler 150D) associated with shoe 191 can provide vertical retention force to leg actuator unit 110 . Another embodiment uses a coupler 150 (e.g., one or both of couplers 150C, 150D) positioned on user's 101 lower leg 105 to rebound on user's 101 calf, thereby Apply a vertical force on the actuator unit 110 . Various embodiments include the following supporting force, electronic and/or fluidic cable assemblies transmitted onto the shoe via coupler 150 (e.g., coupler 150D) or onto the shoe attachment of the other embodiments previously described. , support transmitted via a connection to a waist belt, backpack 155, or other housing for exoskeleton device 510 and/or pneumatic system 520 (see FIG. 5). support transmitted via a shoulder, support transmitted to the shoulders of the user 101 via a strap or harness, and the like.

In various embodiments, the leg actuator unit 110 can be remote from the user's leg 102 with a limited number of attachments to the leg 102 . For example, in some embodiments, leg actuator unit 110 can consist, or consist essentially of, three attachments to leg 102 of user 101 (i.e., first and second attachments). 222, 224 and 215). In various embodiments, the coupling of the leg actuator unit 110 to the lower leg 105 may consist or consist essentially of first and second attachments on the front and rear sides of the lower leg 105. can. In various embodiments, the coupling of the leg actuator unit 110 to the thigh 104 can consist of or consist essentially of a single outer coupling, which can consist of one It can be associated with the above couplers 150 (eg, two couplers 150A, 150B as shown in FIGS. 1-4). In various embodiments, it may be desirable for such configurations to be based on force transmission specific to use during a subject's activity. Accordingly, the number and location of attachments or couplings to the legs 102 of the user 101 in various embodiments are specific to one or more selected target user activities, rather than a single design choice. can be selected.

Although specific embodiments of coupler 150 are shown herein, in further embodiments components such as those discussed herein can be operated by alternative structures that produce the same function. can be replaced. For example, although straps, buckles, pads, etc. are shown in various examples, further embodiments may include couplers 150 of various suitable types and with various suitable elements. For example, some embodiments can include Velcro hook and loop straps and the like.

1-3 illustrate an example exoskeleton system 100 in which the joint 125 is positioned laterally adjacent to the knee 103, with the axis of rotation of the joint 125 positioned parallel to the axis of rotation of the knee 103. FIG. . In some embodiments, the axis of rotation of joint 125 can coincide with the axis of rotation of knee 103 . In some embodiments, the joint can be placed on the anterior side of the knee 103, the posterior side of the knee 103, the medial side of the knee 103, and the like.

In various embodiments, the joint structure 125 allows forces generated by actuator fluid pressure within the bellows actuator 130 to be directed about an instantaneous center (which may or may not be fixed in space). Bellows actuator 130 can be constrained so that it can. In the case of an externally rotating or rotary joint, or a body that slides over a curved surface, this instantaneous center can coincide with the instantaneous center of rotation of the joint 125 or the curved surface. The force generated by the leg actuator unit 110 around the rotary joint 125 can be used not only to apply a moment about the instantaneous center, but it can also be used to apply a directional force. can be done. In the case of parts of prismatic joints or linear joints (such as slides on rails), the instantaneous center can be considered kinematically at infinity, in which case Force can be viewed as directed along the axis of motion of the prismatic joint. In various embodiments, it may be sufficient for rotary joint 125 to be constructed from a mechanical pivot mechanism. In such embodiments, joint 125 can have a fixed center of rotation, which can be easy to define, and bellows actuator 130 can move relative to joint 125 . In further embodiments, it may be beneficial for joint 125 to include a complex linkage that does not have a single fixed center of rotation. In yet another embodiment, the joint 125 can include a bent design with no fixed joint pivot. In still further embodiments, the joints 125 can include structures such as human joints, robotic joints, and the like.

In various embodiments, leg actuator units 110 (including, for example, bellows actuators 130, joint structures 125, etc.) are integrated into the system to use the generated directional forces of leg actuator units 110 to perform various motions. can accomplish the task. In some examples, when the leg actuator unit 110 is configured to support a human body or included in the powered exoskeleton system 100, the leg actuator unit 110 has one or more unique advantages. be able to. In an exemplary embodiment, leg actuator unit 110 may be configured to assist the movement of a human user about the user's knee joint 103 . To do this, in some examples, the instantaneous center of leg actuator unit 110 can be designed to coincide or nearly coincide with the instantaneous center of rotation of knee 103 of user 101 . In one exemplary configuration, the leg actuator unit 110 can be positioned outside the knee joint 103 as shown in FIGS. 1-3. In various examples, the human knee joint 103 can function as (eg, additionally or instead of) the joint 125 of the leg actuator unit 110 .

For clarity, the example embodiments described herein should not be considered limiting of the potential applications of the leg actuator unit 110 described within this disclosure. Leg actuator units 110 may be positioned on other joints of the body including, but not limited to, one or more elbows, one or more hips, one or more fingers, one or more ankles, spine, or neck. can be used. In some embodiments, the leg actuator unit 110 can be used for non-human applications, such as robotics, general purpose actuation, animal exoskeletons, and the like.

Also, embodiments can be used or adapted for a variety of suitable applications, such as tactical, medical, or labor applications. Examples of such applications are provided in Attorney Docket No. 0110496-002US1, filed November 27, 2017, entitled "PNEUMATIC EXOMUSCLE SYSTEM AND METHOD," which is incorporated herein by reference. and U.S. Patent Application No. 15/823,523, filed April 13, 2018, entitled "LEG EXOSKELETON SYSTEM AND METHOD," having Attorney Docket No. 0110496-004US0. 953,296.

Some embodiments can apply configurations of the leg actuator unit 110 for linear actuation applications, as described herein. In an exemplary embodiment, bellows actuator 130 can include a two-layer impermeable/intensible structure, with one end of one or more restraining ribs secured to bellows actuator 130 at a predetermined location. can be done. The joint structure 125 in various embodiments can be configured as a series of slides of a pair of linear guide rails, with the remaining ends of one or more restraining ribs connected to the slides. Movement and forces of the fluidic actuator are thus constrained and directed along the linear rail.

FIG. 5 is a block diagram of an exemplary embodiment of exoskeleton system 100 including exoskeleton device 510 operably connected to pneumatic system 520 . Although pneumatic system 520 is used in the example of FIG. 5, further embodiments may include any suitable fluidic system or, in some embodiments, exoskeleton system 100 is actuated by electric motors or the like. , the pneumatic system 520 may not be present.

Exoskeleton device 510 in this example comprises processor 511 , memory 512 , one or more sensors 513 , communication unit 514 , user interface 515 , and power supply 516 . A plurality of actuators 130 are operably coupled to pneumatic system 520 via respective pneumatic lines 145 . The plurality of actuators 130 includes a pair of knee actuators 130L and 130R positioned on the left and right sides of the body 100. As shown in FIG. For example, as described above, the example exoskeleton system 100 shown in FIG. Left and right leg actuator units stored in or around puck 155 (see FIG. 1) or otherwise attached, worn or held by user 101 110L, 110R may be included on each side of body 101 as shown in FIGS.

Thus, in various embodiments, the exoskeleton system 100 is a fully mobile, self-contained system that is configured to operate powered for extended periods without an external power source during various user activities. can be. Accordingly, the size, weight and configuration of actuator unit(s) 110, exoskeleton device 510 and pneumatic system 520, in various embodiments, are configured for such mobile and self-contained operation. can be done.

In various embodiments, exemplary system 100 can be configured to move and/or enhance movement of user 101 wearing exoskeleton system 100 . For example, exoskeleton device 510 can provide commands to pneumatic system 520 to selectively inflate and/or deflate bellows actuator 130 via pneumatic line 145 . Such selective expansion and/or contraction of bellows actuator 130 moves and/or supports one or both legs 102 to perform body movements such as walking, running, jumping, climbing, lifting, and throwing. squatting, squatting, skiing, etc. can be induced and/or enhanced.

In some cases, exoskeleton system 100 can be designed to support multiple configurations in a modular configuration. For example, one embodiment is a modular configuration designed to operate in either a one-knee configuration or a two-knee configuration depending on the number of actuator units 110 worn by the user 101 . For example, the exoskeleton device 510 can determine the number of actuator units 110 (eg, one or two actuator units 110) coupled to the pneumatic system 520 and/or the exoskeleton device 510, and the exoskeleton device 510 can change its operational capability based on the number of actuator units 110 detected.

In further embodiments, pneumatic system 520 may be manually controlled, configured to apply a constant pressure, or operated in any other suitable manner. In some embodiments, such movement can be controlled and/or programmed by the user 101 wearing the exoskeleton system 100, or another person. In some embodiments, the exoskeleton system 100 can be controlled by the movements of the user 101 . For example, exoskeleton device 510 can sense that a user is walking and carrying a load, and can provide electrical assistance to the user via actuator 130 to reduce motion associated with loading and walking. Similarly, when the user 101 wears the exoskeleton system 100, the exoskeleton system 100 can sense the movement of the user 101 and provide electrical assistance to the user via the actuators 130 to assist the user while skiing. can augment or provide support for

Thus, in various embodiments, the exoskeleton system 130 can react automatically without direct user interaction. In further embodiments, movement can be controlled in real time by a user interface 515 such as a controller, joystick, voice control, or thought control. Additionally, some movements can be pre-programmed and selectively triggered (eg, walk forward, sit, crouch) rather than being fully controlled. In some embodiments, movement may be controlled by generalized instructions (eg, walk from point A to point B, pick up a box from shelf A and move it to shelf B).

The user interface 515 allows the user 101 to control various aspects of the exoskeleton system 100 including powering the exoskeleton system 100 on and off, controlling movement of the exoskeleton system 100, configuring settings of the exoskeleton system 100, and the like. can make it possible. User interface 515 may include various suitable input elements such as a touch screen, one or more buttons, audio input, and the like. User interface 515 can be at various suitable locations around exoskeleton system 100 . For example, in one embodiment, user interface 515 can be placed on a strap of backpack 155 or the like. In some embodiments, the user interface can be defined by user devices such as smart phones, smart watches, wearable devices, and the like.

In various embodiments, power source 516 can be a mobile power source that provides operating power to exoskeleton system 100 . In one preferred embodiment, the power pack unit provides some or all of the pneumatic system 520 (e.g., compressor) and/or power source (e.g., battery) required for continuous operation of the pneumatic actuation of the leg actuator unit 110. include. The content of such power pack units can be correlated to specific actuation approaches configured for use with specific embodiments. In some embodiments, only the power pack unit contains the battery, which may be the case in electromechanically operated systems, or systems in which the pneumatic system 520 and power supply 516 are separate. Various embodiments of the power pack unit include one or more of the following items: pneumatic compressors, batteries, high pressure retractable pneumatic chambers, hydraulic pumps, pneumatic safety components, electric motors, motor drivers, microprocessors, etc. Combinations can include, but are not limited to. Accordingly, various embodiments of the power pack unit may include one or more of the elements of the exoskeleton device 510 and/or the pneumatic system 520.

Components such as them can be configured on the body of user 101 in a variety of suitable ways. One preferred embodiment is to include the power pack unit in a torso-mounted pack that is not operably coupled to the leg actuator unit 110 in any manner that imparts substantial mechanical force to the leg actuator unit 110. Another embodiment includes integrating the power pack unit or components thereof into the leg actuator unit 110 itself. Various embodiments include the following configurations, torso attachment in a backpack, torso attachment in a messenger bag, gluteal attachment to a bag, leg attachment, integration into an orthosis component, and the like. can include, but are not limited to: Further embodiments may separate the components of the power pack unit and distribute them in various configurations on user 101 . Such embodiments may configure the pneumatic compressor on the torso of the user 101 and then integrate the battery into the leg actuator unit 110 of the exoskeleton system 100 .

One aspect of the power supply 516 in various embodiments is that it must be connected to the components of the appliance in such a way as to pass operable system power to the appliance for operation. One preferred embodiment is to use electrical cables to connect the power supply 516 and the leg actuator unit 110 . Other embodiments may use electrical cables and pneumatic lines 145 to deliver power and pneumatic pressure to leg actuator unit 110 . Various embodiments can include, but are not limited to, configurations of any of the following connections, pneumatic hoses, hydraulic hoses, electrical cables, wireless communications, wireless power, and the like.

In some embodiments, secondary cables (e.g., pneumatic lines 145 and/or power lines) extend the functionality of cable connections (e.g., pneumatic lines 145 and/or power lines) between leg actuator unit 110 and power supply 516 and/or pneumatic system 520. It may be desirable to include features. A preferred embodiment includes a retractable cable that is configured to have a low mechanical retention force that keeps the cable taut against the user with less slack remaining in the cable. . Various embodiments include the following secondary features: retractable cable, single cable containing both fluid and power, magnetically connected electrical cable, mechanical quick release, It can include, but is not limited to, combinations of breakaway connections designed to release, integration into mechanical retaining features on the user's clothing, and the like. Yet another embodiment may involve routing the cables in such a way as to minimize geometrical differences between the user 101 and the cable length. One such embodiment in a two-knee configuration with torso power can route cables along the user's lower torso and connect the right side of the power bag to the user's left knee. Such wiring allows for geometric differences in length throughout the user's normal range of motion.

One specific additional feature that may be of concern in some embodiments is the need for proper thermal management of exoskeleton system 100 . As a result, there are various features that can be specifically integrated for the benefit of controlling heat. A preferred embodiment integrates exposed heat sinks into the environment so that elements of exoskeleton device 510 and/or pneumatic system 520 can dissipate heat directly into the environment through natural cooling using ambient airflow. be possible. Another embodiment routes ambient air through internal air channels within the backpack 155 or other housing to allow internal cooling. Yet another embodiment may extend this functionality by introducing a scoop into the backpack 155 or other housing to allow airflow through internal channels. Various embodiments include: exposed heat sinks directly coupled to high heat components; water or fluid cooled thermal management systems; forced air cooling by introduction of electric fans or blowers; can include, but are not limited to, heat sinks and the like.

In some cases, it may be beneficial to integrate additional features into the structure of the backpack 155 or other housing to provide the exoskeleton system 100 with additional features. A preferred embodiment is the integration of mechanical attachments to support retraction of the leg actuator unit 110 along with the exoskeleton device 510 and/or pneumatic system 520 in a compact package. Such an embodiment includes a deployable arm that can secure the leg actuator unit 110 to the backpack 155 with mechanical clasps that hold the upper or lower arms 115, 120 of the actuator unit 110 to the backpack 155. A pouch can be included. Another embodiment is to include storage capacity in backpack 155 so that user 101 can hold additional items such as water bottles, food, personal electronics, and other personal items. Various embodiments include: heated pockets heated by hot airflow from exoskeleton device 510 and/or pneumatic system 520; air scoops to facilitate additional airflow inside backpack 155; Other additional features such as, but not limited to, straps to provide a tighter fit to the user, waterproof storage, temperature regulated storage, and the like.

In a modular configuration, in some embodiments the exoskeleton device 510 and/or the pneumatic system 520 are configured to support the power, fluid, sensing and control requirements and functions of various possible configurations of exoskeleton systems. It may be required to be able to A preferred embodiment is an exoskeleton device 510 that can be tasked with powering a double knee configuration or a single knee configuration (i.e., with one or two leg actuator units 110 on the user 101) and /or pneumatic system 520 may be included. Such an exoskeleton system 100 can support the requirements of both configurations and then appropriately configure power, fluids, sensing and control based on the determination or direction of the desired operating configuration. Various embodiments exist to support an array of potential modular system configurations, such as multiple batteries.

In various embodiments, the exoskeleton device 100 may be operable to perform methods or portions of methods described in more detail below or in related applications incorporated herein by reference. For example, memory 512, when executed by processor 511, can cause exoskeleton system 100 to perform methods or portions of methods described herein, or in related applications incorporated herein by reference. can include non-transitory computer readable instructions (eg, software) that can

This software embodies various methods of interpreting signals from sensors 513 or other sources to determine how best to operate the exoskeleton system 100 to provide the desired benefit to the user. be able to. The specific embodiments described below should not be used to imply limitations on the sensors 513 that may apply to such exoskeleton systems 100 or sources of sensor data. Some exemplary embodiments may require specific information to guide decisions, but do not create an explicit set of sensors 513 that the exoskeleton system 100 would need, and further implementation Forms may include various suitable sets of sensors 513 . Further, sensors 513 can be at various suitable locations on exoskeleton system 100, including as part of exoskeleton device 510, pneumatic system 520, one or more fluid actuators 130, and the like. Accordingly, the exemplary illustration of FIG. 5 should not be construed to imply that sensor 513 is located exclusively on exoskeleton device 510 or a portion thereof, and such illustration is intended for simplification and clarity. It is only provided for

One aspect of the control software can be the motion control of leg actuator unit 110, exoskeleton device 510, and pneumatic system 520 to provide the desired response. Motion control software can have a variety of suitable responsiveness. For example, one can be responsible for developing baseline feedback for the operation of leg actuator unit 110, exoskeleton device 510, and pneumatic system 520, as described in more detail below. can be low level control. Another is responsive to identifying intended manipulations of user 101 based on data from sensors 513 and operating exoskeleton system 100 based on one or more identified intended manipulations. It can be possible intent recognition. A further example may include reference generation, which may include selecting a desired torque that the exoskeleton system 100 should generate to best assist the user 101 . This exemplary architecture for describing motion control software responsiveness is for illustrative purposes only, and by no means illustrates the wide variety of software approaches that can be deployed in further embodiments of the exoskeleton system 100. Note that it is not limiting.

One method implemented by control software may be for low-level control and communication of exoskeleton system 100 . This can be accomplished through a variety of methods as required by the specific fitting and user's needs. In a preferred embodiment, the motion control is configured to apply the desired torque by the leg actuator unit 110 at the user's joint. In such cases, the exoskeleton system 100 may generate low-level feedback to achieve the desired joint torque by the leg actuator units 110 in response to feedback from the sensors 513 of the exoskeleton system 100. can. For example, such a method may include obtaining sensor data from one or more sensors 513, determining whether a change in torque is required by the leg actuator unit 110, and if so, and causing the pneumatic system 520 to change the fluid state of the leg actuator unit 110 so that the unit 110 achieves the target joint torque. Various embodiments configure fluid system 520 to inject current feedback, recorded behavior playback, position-based feedback, velocity-based feedback, feedforward response, desired flow rate into actuator 130, as follows: This can include, but is not limited to, controlling volume feedback and the like.

Another method implemented by motion control software can be for intent recognition of the user's intended behavior. This portion of the motion control software can, in some embodiments, dictate any array of acceptable behaviors that the system 100 is configured to consider. In one preferred embodiment, the motion control software is configured to identify two distinct states: ambulatory and non-ambulatory. In such embodiments, to complete intent recognition, the exoskeleton system 100 uses user input and/or sensor readings to provide assistive motion during walking, where it is desirable to do so. can identify when, or is appropriate. For example, in some embodiments, intent recognition can be based on input received via user interface 515, which can include walking and non-walking inputs. Thus, in some examples, the user interface can be configured for binary input consisting of ambulatory and non-ambulatory.

In some embodiments, the method of intent recognition includes exoskeleton device 510 acquiring data from sensors 513 and, based at least in part on the acquired data, determining whether the data is ambulatory or non-ambulatory. and determining whether to correspond to the state. If a change in state is identified, the exoskeleton system 100 can be reconfigured to operate in the current state. For example, exoskeleton device 510 may determine that user 101 is in a non-ambulatory state, such as sitting, and exoskeleton system 100 may be configured to operate in a non-ambulatory configuration. For example, such a non-ambulatory configuration may provide greater range of motion, no or minimal torque to the leg actuation unit 110, and processing and Minimizing fluid manipulation saves power and fluid and allows the system to alert to support a wider variety of non-skiing movements.

The exoskeleton device 510 can monitor activity of the user 101 and can determine (eg, based on sensor data and/or user input) that the user is walking or about to walk. The exoskeleton system 100 can then be configured to operate in an ambulatory configuration. For example, such an ambulatory configuration allows for a more restricted range of motion present during skiing (as opposed to non-ambulatory movement) compared to a non-ambulatory configuration; By increasing the processing and fluid response of the exoskeleton system 100 to support skiing, high or maximum performance can be provided, and so on. Exoskeleton system 100 may determine that the user is no longer walking (e.g., based on sensor data and/or user input), such as when user 101 has completed a walking session and is identified as resting. ), and the exoskeleton system 100 can then be configured to operate in a non-ambulatory configuration.

In some embodiments, exoskeleton system 100 (e.g., sensor data and/or There can be multiple walking states or walking sub-states that can be determined (or based on user input). Such conditions may be based on walking difficulty, user ability, terrain, weather conditions, altitude, walking plane angle, desired performance level, power savings, and the like. Thus, in various embodiments, exoskeleton system 100 can adapt to different specific types of locomotion or movement based on a wide variety of factors.

Another method implemented by motion control software can be the development of a desired baseline behavior of specific joints to provide assistance. This portion of the control software can combine identified operations with level control. For example, when the exoskeleton system 100 identifies an intended user manipulation, software can generate a reference behavior that defines the torque or position desired by the actuators 130 within the leg actuation unit 110 . In one embodiment, motion control software generates criteria for causing leg actuation unit 110 to simulate mechanical springs at knee 103 via configuration actuator 130 . Motion control software can generate a torque reference at the knee joint that is a linear function of knee joint angle. In another embodiment, motion control software generates a reference volume for providing a constant standard air volume to pneumatic actuator 130 . This allows pneumatic actuator 130 to maintain a constant amount of air in actuator 130 regardless of knee angle, which can be identified through feedback from one or more sensors 513, thereby reducing mechanical spring stress. It is possible to operate like

In another embodiment, a method implemented by motion control software assesses the balance of a user 101 while walking, moving, standing, or running, and assesses the balance of a leg 102 that is outside the user's current balance profile. and delivering torque in a manner that encourages the user 101 to remain balanced by directing knee assistance to the knee. Accordingly, a method of operating the exoskeleton system 100 may generate sensor data indicative of the balance profile of the user 101 based on the configuration of the left and right leg actuation units 110L, 110R and/or environmental sensors such as position sensors, accelerometers, etc. Exoskeleton device 510 may include acquiring from sensor 510 . Further, the method includes determining a balance profile including the outer and inner legs based on the acquired data and then applying torque to the actuation unit 110 associated with the leg 102 identified as the outer leg. and increasing.

Various embodiments may use, but are not limited to, kinematic estimates of body posture, joint motion profile estimates, and observed estimates of body posture. Methods for coordinating the two legs 102 to generate torque include directing the torque to the most flexed leg, directing the torque based on the average amount of knee angle across the legs, directing the torque to velocity or Various other implementations exist including, but not limited to, scaling in response to acceleration. Further embodiments may include combinations of various individual reference generation methods in various respects, including but not limited to linear combinations, specific combinations of operations, or non-linear combinations. Also note

In another embodiment, the motion control method uses two main criteria generation techniques: one that focuses on static assistance, and one that guides the user 101 to his or her future behavior. can be combined with criteria focused on In some examples, user 101 may select the degree of predictive assistance desired while using exoskeleton system 100 . For example, the exoskeleton system 100 can be configured to be very responsive, with the user 101 directing a greater amount of predictive assistance, making it easier for experienced operators in difficult terrain. can be configured appropriately for Also, if the user 101 can indicate that they want a negligible amount of predictive assistance, system performance can be slowed and may be better tailored to a learning user or less challenging terrain. .

Various embodiments can capture user intent in various ways, and the example embodiments presented above should not be construed as limiting in any way. For example, methods of determining and operating exoskeleton system 100 are described in Attorney The system and method of US patent application Ser. No. 15/887,866 having docket number 0110496-003US0 may be included. Also, various embodiments can use user intent in a variety of ways, including as a continuous unit or as discrete settings with only a few indications.

At times, it may be beneficial for motion control software to manipulate its controls to consider secondary or additional objectives in order to maximize device performance or user experience. In one embodiment, the exoskeleton system 100 may provide altitude-aware control via a central compressor, or other component of the pneumatic system 520, to account for changes in air density at different altitudes. For example, the motion control software may identify that the system is operating at a higher altitude based on data from sensors such as sensor 513 and direct more current to the compressor to maintain the power consumed by the compressor. can supply. Accordingly, a method of operating the pneumatic exoskeleton system 100 includes obtaining data (e.g., elevation data) indicative of the air density in which the pneumatic exoskeleton system 100 is operating, and determining the air density based on the obtained data. Determining optimal operating parameters for the pressure system 520 and configuring operations based on the determined optimal operating parameters may be included. In further embodiments, the operation of the pneumatic exoskeleton system 100, such as the amount of operation, can be adjusted based on the environmental temperature, which can affect the amount of air.

In another embodiment, the exoskeleton system 100 can monitor ambient audible noise levels and alter the control behavior of the exoskeleton system 100 to reduce the noise profile of the system. For example, if the user 101 is in a quiet public place, or enjoying a place quietly alone or with others, the noise associated with the operation of the leg actuation unit 110 (e.g., compressor actuating the actuator 130, or expanding or contracting the actuator 130) may be undesirable. Accordingly, in some embodiments, the sensor 513 can include a microphone that detects the ambient noise level, and the exoskeleton system is instructed to operate in quiet mode when the amount of ambient noise is below a certain threshold. 100 can be configured. Such quiet modes may be configured to operate elements of pneumatic system 520 or actuator 130 more quietly, or may delay or reduce the frequency of noise produced by such elements. You may let

For modular systems, in various embodiments it may be desirable for the motion control software to operate differently based on the number of leg actuation units 110 operating within the exoskeleton system 100 . For example, in some embodiments, the modular bilateral knee exoskeleton system 100 (see, e.g., FIGS. 1 and 2) is a one-piece system in which only one of the two leg actuation units 110 is worn by the user 101. A knee configuration can also be operated (see, eg, FIGS. 3 and 4), and the exoskeleton system 100 can generate different criteria for a two-leg configuration compared to a single-leg configuration. Such embodiments may employ a coordinated control approach to generate criteria for when exoskeleton system 100 uses input from both leg actuation units 110 to determine desired motion. . However, in a single leg configuration, the available sensor information may have changed, so in various embodiments, the exoskeleton system 100 may implement different control methods. In various embodiments, this is to maximize the performance of the exoskeleton system 100 for a given configuration, or to the fact that there are one or two leg actuation units 110 operating on the exoskeleton system 100. can be done to account for differences in sensor information available on a basis.

Therefore, the method of operating the exoskeleton system 100 is that the exoskeleton device 510 determines whether there are one or two leg actuation units 110 operating in the exoskeleton system 100 and A start-up sequence can include determining a control method based on the number of actuation units 110 present, and implementing and operating the exoskeleton system 100 using the selected control method. A further method of operating the exoskeleton system 100 is to monitor the operational units 110 operating on the exoskeleton system 100 with the exoskeleton device 510 and to detect changes in the number of operational units 110 operating on the exoskeleton system 100 . and then determining and changing the control method based on the new number of actuation units 110 operating in the exoskeleton system 100 .

For example, the exoskeleton system 100 can be operating with two actuation units 110 and a first control method. The user 101 can disengage one of the actuating units 110, the exoskeleton device 510 can identify the loss of one of the actuating units 110, and the exoskeleton device 510 can A new second control method that adapts to the loss of one of 110 can be determined and implemented. In some examples, by adapting the number of active actuation units 110, the exoskeleton system 100 automatically adapts even if one of the actuation units 110 breaks or becomes blocked during use. This provides the advantage that the user 101 can continue working or moving further without interruption, even though the exoskeleton system 100 has only one active actuation unit 110. be able to.

In various embodiments, the motion control software can adapt control methods to different user needs between individual actuation units 110 or legs 102 . In such embodiments, it may be beneficial for the exoskeleton system 100 to change the torque reference generated at each actuation unit 110 to suit the user's 101 experience. An example is a bilateral knee exoskeleton system 100 (see, e.g., FIG. 1) where a user 101 has significant weakness problems in one leg 102, but only minor weakness problems in the other leg 102. It is a thing. In this example, the exoskeleton system 100 can be configured to scale down the output torque on the less affected limb compared to the more affected limb to best meet the needs of the user 101. .

Such configuration based on limb strength differences may be performed automatically by exoskeleton system 100 and/or configured via user interface 516 or the like. For example, in some embodiments, while the user 101 is using the exoskeleton system 100, a calibration test is performed that can test the relative strength or weakness in the legs 102 of the user 101. , and the exoskeleton system 100 can be configured based on the strengths or weaknesses identified in both legs 102 . Such tests may identify the overall strength or weakness of both legs 102 or quadriceps, calves, flexors, glutes, gastrocnemius, thighs, sartorius, soleus, etc. may identify strengths or weaknesses of specific muscles or muscle groups in the

Another aspect of the method of operating the exoskeleton system 100 can include control software that monitors the exoskeleton system 100 . Aspects of such software monitoring may, in some instances, be used during normal operation in an attempt to provide exoskeleton system 100 with situational awareness and understanding of sensor information to facilitate user understanding and device performance. During this time, the focus can be on monitoring the status of the exoskeleton system 100 and the user 101 . One aspect of such monitoring software may be monitoring the status of the exoskeleton system 100 to provide an understanding of the device to achieve desired performance capabilities. Part of this can be the development of systems that estimate body pose. In one embodiment, the exoskeleton device 510 uses on-board sensors 513 to enhance its real-time understanding of the user's posture. In other words, data from sensor 513 can be used to determine the configuration of actuating unit 110, which, along with other sensor data, is used by user 101 wearing actuating unit 110. can be used to infer an estimate of the pose or body composition of the

Sometimes, in some embodiments, it is impractical for the exoskeleton system 100 to directly sense all important aspects of the system's posture because the sensing modalities do not exist or cannot be really integrated into the hardware. It may be real or impossible. As a result, the exoskeleton system 100 in some examples relies on a fused understanding of sensor information based on the underlying model of the user's body and the exoskeleton system 100 as the user is wearing it. can be done. In one embodiment of the bilateral knee assist exoskeleton system 100, the exoskeleton device 510 uses underlying models of the user's lower extremity and torso segments to generate relational constraints between sensors 513 that would otherwise be blocked. can be strengthened. With such a model, the exoskeleton system 100 allows the constrained motion of the two legs 102 in that they are mechanically linked through the user's kinetic chain created by the body. becomes possible to understand. This approach can be used to ensure that the knee orientation estimate is properly constrained and biomechanically valid. In various embodiments, the exoskeleton system 100 can include sensors 513 embedded in the exoskeleton device 510 and/or the pneumatic system 520 to provide a further overview of the posture of the system. In yet another embodiment, the exoskeleton system 100 may include application-unique logic constraints in an attempt to provide additional constraints on pose estimation behavior. This is desirable in some embodiments in situations where ground truth information is not available, such as when the exoskeleton system 100 rejects external GPS signals, or the geomagnetic field is distorted, highly dynamic actions, etc. Sometimes.

In some embodiments, changes in configuration of locations and/or location attributes based on the exoskeleton system 100 can be performed automatically and/or by input from the user 101 . For example, in some embodiments, exoskeleton system 100 may provide one or more suggestions for changes in configuration based on location and/or location attributes, and user 101 may submit such suggestions. You can choose to accept. In further embodiments, configuring some or all of the positions and/or position attributes based on the exoskeleton system 100 can occur automatically without user interaction.

Various embodiments can include collection and storage of data from the exoskeleton system 100 throughout operation. In one embodiment, this includes live streaming data collected on the exoskeleton device 510 to a cloud storage location via the communication unit(s) 514 via available wireless communication protocols, or such Storing data in the memory 512 of the exoskeleton device 510 may be included, and such data may be uploaded to another location via the communication unit(s) 514 . For example, once the exoskeleton system 100 obtains a network connection, recorded data can be uploaded to the cloud at communication speeds supported by the available data connection. Various embodiments, which can include variations of this, collect and store data locally and/or remotely about the exoskeleton system 100 for later retrieval for such an exoskeleton system 100. The use of monitoring software to monitor may be included in various embodiments.

In some embodiments, once such data is recorded, it may be desirable to use that data for a variety of different uses. One such application may be the use of the data to develop additional supervisory functions in the exoskeleton system 100 in an attempt to identify device system problems of interest. One embodiment can be the use of the data to identify specific exoskeleton systems 100 or leg actuator units 110 among a plurality that have significantly varied performance across different applications. Another use of the data may be returning it to the user 101 to gain a better understanding of how the user 101 skis. One embodiment of this may be returning data to User 101 via a mobile application that allows User 101 to review their usage on their mobile device. Yet another use of such device data may be to synchronize playback of data with external data streams to provide additional context. One embodiment is a system that incorporates GPS data from a companion smartphone into data natively stored on the device. Another embodiment may include time synchronization of recorded video with stored data retrieved from device 100 . Various embodiments use these methods to allow users to immediately use the data to assess their own performance, to understand behavior from the past, and to interact directly with other users. Or for comparison via an online profile, so that the developer can retrieve it later for further development of the system, etc.

Another aspect of the method of operating the exoskeleton system 100 can include monitoring software configured to identify user-specific characteristics. For example, the exoskeleton system 100 can provide an awareness of how a particular skier 101 performs with the exoskeleton system 100 and, over time, in an attempt to maximize that user's device performance. Profiles of user-specific features can be developed. One embodiment may include the exoskeleton system 100 identifying user-specific usage types in an attempt to identify a particular user's usage style or skill level. Through assessment of the user's form and stability during various activities (e.g., through analysis of data obtained from sensors 513, etc.), in some examples, exoskeleton device 510 may be used by a highly skilled user. , newcomers, or novices. This skill level or style understanding allows the exoskeleton system 100 to better tailor control criteria to a particular user.

In further embodiments, exoskeleton system 100 may also use personalized information about a given user to build a profile of the user's biomechanical response to exoskeleton system 100 . In one embodiment, the exoskeleton system 100 collects data about the user to help the user understand the load placed on his/her leg 102 during use. Generating an estimate of knee tension can be included. This allows the exoskeleton system 100 to alert the user if the user has reached a significant amount of knee strain in history and advise the user to stop in order to avoid potential pain or discomfort. can be warned.

Another embodiment of an individualized biomechanical response can be a system that collects data about a user to develop an individualized system model for the user. In such embodiments, an individualized model can be developed through a system ID (identification) method that evaluates system performance using an underlying system model, and the best model that fits a particular user. parameters can be identified. The system ID in such embodiments may operate to estimate segment lengths and masses (e.g., of legs 102 or portions of legs 102) to better define dynamic user models. can. In another embodiment, these individualized model parameters can be used to deliver user-specific control responses according to user-specific masses and segment lengths. In some instances of dynamic models, this can significantly help the device's ability to consider dynamic forces during very difficult activities.

In various embodiments, the exoskeleton system 100 can provide various types of user interaction. For example, such interactions can include input from user 101 to exoskeleton system 100 as appropriate, and exoskeleton system 100 responds to changes in the operation of exoskeleton system 100, the state of exoskeleton system 100, and the like. Feedback can be provided to the user 101 indicating such as. As described herein, user input and/or output to the user may be provided via one or more user interfaces 515 of the exoskeleton device 510 or various user devices such as smartphone user devices. Other interfaces or devices may be included. One or more user interfaces 515 or devices such as those may be placed in various suitable locations, such as on backpack 155 (see, eg, FIG. 1), pneumatic system 520, leg actuation unit 110, or the like. can be.

Exoskeleton system 100 may be configured to obtain intent from user 101 . For example, it may be directly integrated with other components of exoskeleton system 100 (e.g., one or more user interfaces 515) or may be operably connected externally to exoskeleton system 100 (e.g., smartphone , wearable devices, remote servers, etc.). In one embodiment, user interface 515 may include buttons that are integrated directly into one or both leg actuation units 110 of exoskeleton system 100 . This single button allows the user 101 to indicate various inputs. In another embodiment, user interface 515 is configured to be provided by a torso-mounted lapel input device that is integrated with exoskeleton device 510 and/or pneumatic system 520 of exoskeleton system 100. can be done. In one example, such a user interface 515 includes buttons with dedicated enable and disable functions, and buttons dedicated to the user's desired power source level (eg, the amount or range of force exerted by the leg actuator unit 110). and a selector switch that may be dedicated to the amount of predicted intent to integrate into control of the exoskeleton system 100 . Such embodiments of user interface 515, in some examples, use a series of functionally locked buttons to provide user 101 with an understood set of indicators that may be required for normal operation. can do. Yet another embodiment may include a mobile device connected to exoskeleton system 100 via a Bluetooth connection, or other suitable wired or wireless connection. Using a mobile device or smart phone as the user interface 515 allows a much greater amount of user input to the device due to the flexibility of the input method. Various embodiments may use the options listed above or combinations and variations thereof, but are in no way limited to the explicitly stated combinations of input methods and articles.

One or more user interfaces 515 may provide user 101 with information that enables the user to properly use and operate exoskeleton system 100 . Such feedback may be via feedback mechanisms directly integrated into one or both of the actuation units 110, feedback through the operation of the actuation units 110, and external items not integrated with the exoskeleton system 100 (e.g., mobile devices). It can be in a variety of visual, tactile and/or audible ways, including but not limited to feedback provided by the user. Some embodiments may include feedback lighting integration in the actuation unit 110 of the exoskeleton system 100 . In one such embodiment, five polychromatic lights are integrated at knee joint 125 or other suitable location so that user 101 can see the lights. These lights can be used to provide feedback of system errors, device power, normal operation of the device, and the like. In another embodiment, the exoskeleton system 100 can provide controlled feedback to the user to indicate specific information. In embodiments such as those, the exoskeleton system 100 will pulse the joint torque at one or both of the leg actuation units 110 to the maximum allowable torque when the user changes the maximum allowable user desired torque. being able to provide a tactile indicator of torque setting. Another embodiment can use an external device, such as a mobile device, to which the exoskeleton system 100 can provide alert notifications regarding device information such as operating errors, configuration status, power status, and the like. The type of feedback the user 101 is expected to interact with includes the actuation unit 110, pneumatic system 520, backpack 155, mobile device, or other suitable interaction method such as web interface, SMS text or email. may include, but are not limited to, lights, sounds, vibrations, notifications, and manipulative forces integrated in various locations.

Communication unit 514 may include hardware and/or software that enables exoskeleton system 100 to communicate directly or over a network with other devices, including user devices, classification servers, other exoskeleton systems 100, and the like. can. For example, the exoskeleton system 100 can be configured to interface with a user device that is used to control the exoskeleton system 100, receive performance data from the exoskeleton system 100, It is possible, for example, to facilitate updates to the skeleton system. Such communications may be wired and/or wireless communications.

In some embodiments, sensors 513 can include any suitable type of sensor, and sensors 513 can be centrally located or distributed around exoskeleton system 100 . For example, in some embodiments, the exoskeleton system 100 includes multiple accelerometers, force sensors, position sensors at various suitable locations, including arms 115, 120, joints 125, actuators 130, or any other location. etc. can be provided. Thus, in some examples, sensor data may be the physical state of one or more actuators 130, the physical state of a portion of exoskeleton system 100, the physical state of exoskeleton system 100 in general, etc. can handle. In some embodiments, exoskeleton system 100 may include a global positioning system (GPS), cameras, ranging sensing systems, environmental sensors, elevation sensors, microphones, thermometers, and the like. In some embodiments, exoskeleton system 100 can acquire sensor data from a user device such as a smart phone.

In some cases, an understanding of the user 101 wearing the exoskeleton device 100, an understanding of the environment and/or behavior of the exoskeleton system 100 may be used by the exoskeleton system 100 by integrating various suitable sensors 515 into the exoskeleton system 100. It may be beneficial for system 100 to generate or extend. One embodiment measures various suitable aspects of the user 101 (e.g., fatigue and/or fatigue), such as body temperature, heart rate, respiratory rate, blood pressure, blood oxygen saturation, exhaled CO ₂ , blood sugar level, walking speed, sweat rate, etc. or corresponding to vital functions of the body) can be included for measuring and tracking biological indicators.

In some embodiments, the exoskeleton system 100 utilizes relatively close and reliable connectivity between sensors 515 such as those and the user's 101 body to record system vitals and keep them accessible. It can be stored in a format (eg, on an exoskeleton device, remote device, remote server, etc.). Another embodiment continuously or periodically measures the environment surrounding the exoskeleton system 100 for various environmental conditions such as temperature, humidity, light levels, barometric pressure, radioactivity, sound levels, poisons, contaminants, etc. An environmental sensor 515 can be included that can be used. In some examples, various sensors 515 may not be required for operation of exoskeleton system 100 or used directly by motion control software, but to report to user 101 (e.g., interface 515), or stored for transmission to a remote device, remote server, or the like.

Pneumatic system 520 may include any suitable device or system operable to inflate and/or deflate actuators 130 individually or as a group. For example, in one embodiment, the pneumatic system includes a diaphragm compressor as disclosed in Related Patent Application No. 14/577,817, filed Dec. 19, 2014, or as described herein. A pneumatic transmission may be included.

Various embodiments can include a power system 516 (see FIG. 5), which allows any suitable number of modular battery units to be integrated into the power system 516 . Such a design allows exoskeleton system 100 to integrate any suitable number of modular batteries into power system 516 . Various embodiments can include a power system 516 having one or more self-contained battery units that are permanent or semi-permanent components of the exoskeleton system 100 . Further, various embodiments can include a power system 516 configured to obtain power from an external power source, such as a building power receptacle.

For example, FIG. 6 illustrates an example embodiment of power system 516 and modular battery set 600 . The power system 516 includes first, second and third battery slots 610A, 610B, 610C, with a first battery unit 630A shown positioned within the first battery slot 610A. The modular battery set 600 can comprise multiple modular battery units 630, including a first battery unit 630A, and second, third and fourth battery units 630B, 630C, 630D. Power system 516 may also include first and second self-contained batteries 650X, 650Y in addition to power cord 670 .

In various embodiments, battery unit 630 can be modular such that any of battery units 630A, 630B, 630C, 630D can be coupled within any of battery slots 610A, 610B, 610C. For example, the first battery unit 630A may be coupled to the first battery slot 610A as shown in FIG. 6, or may be coupled to the second or third battery slots 610B, 610C. Further, in various embodiments, one or more of battery slots 610A, 610B, 610C may be occupied by battery unit 630 at a given time, or all three battery slots 610A, 610B, 610C may May be empty. Also, in various embodiments, there is no order relationship between the battery slots 610A, 610B, 610C. In other words, in various embodiments, battery slots 610A, 610B, 610C need not be blocked or battery units 630 removed in any given order.

Although various examples include co-located multiple battery slots 610 in which a set of battery units 630 can be interchangeably coupled to any of the multiple slots 610, in some embodiments, a specific There can be different configurations of battery slots 610 such that only one battery unit 630 can be coupled to a given battery slot 610 . Such embodiments preferably have battery units 630 with different characteristics and have different configurations of battery slots 610 so that the correct battery unit 630 is coupled in the correct position. It may be desirable to be able to

Also, while some examples include modular battery sets 600 having multiple battery units 630 having the same size, shape and battery characteristics, some embodiments include batteries of different sizes, shapes and/or battery characteristics. A modular battery set 600 having units 630 may be included, and such battery units 630 may be interchangeably or modularly coupled to multiple battery slots 610 . For example, a battery unit 630 with a larger power capacity may be physically larger than a battery unit 630 with a smaller power capacity. Therefore, if the user 101 wishes to carry a lighter weight battery, or avoid a large, unwieldy battery, the user can couple a smaller battery unit 630 to the exoskeleton device 100, Battery life and operating time may be traded. On the other hand, if longer battery life is important and the size or weight of the battery 630 is not an issue, a larger battery unit 630 can be coupled to the exoskeleton device 100 for use.

In another example, different battery units 630 can be configured for different types of performance of the exoskeleton device 100, and the battery unit 630 can be selected based on the intended activity, mission, task, etc. can. For example, if the user 101 expects to walk for long periods of time without much dynamic movement and generally requires constant power output within a relatively narrow range, then for long-term stable current output can be selected. In another example, if user 101 anticipates doing dynamic movements or otherwise anticipates using exoskeleton system 100 in a manner that may require high power output or spikes in high power output. If so, a battery unit 630 configured to power the exoskeleton system 100 in such a manner can be selected.

Also, the batteries (eg, battery unit 630 and self-contained battery 650) can be of various suitable types, including rechargeable, semi-rechargeable, or single-use batteries. For example, the batteries discussed herein can include lithium-ion batteries, alkaline batteries, nickel-cadmium batteries, nickel-metal hydride batteries, lithium-ion polymer batteries, lead-acid batteries, zinc-air batteries, and the like. Also, the batteries discussed herein can be single cells and/or batteries. Further, the term battery, in some embodiments, can include capacitors, nuclear energy sources, chemical energy sources, combustion energy sources, mechanical energy sources, etc. should be construed to include any system configured to

Battery unit 630 can be electrically coupled with battery slot 610 in a variety of suitable ways, including via plugs, sockets, slips, tongues, shoes, rails, ports, and the like. As such, the use of the term "slot" should not be construed to imply a requirement for a particular construction of battery slot 610 and battery unit 630. FIG. Further, in various embodiments, battery unit 630 includes plugs, sockets, slips, tongues, shoes, rails, ports, clips, straps, clasps, friction fits, screws, hook and loop tape (eg, Velcro), etc. , can be physically coupled with the battery slot 610 in any suitable manner. In various embodiments, the physical coupling between battery unit 630 and battery slot 610 may be the same as the electrical coupling between battery unit 630 and battery slot 610, or may be different. good too.

Also, while the example of FIG. 6 shows one embodiment where the power system 516 includes three battery slots 610A, 610B, 610C, further embodiments include 1, 2, 3, 4, 5, 6, 7, 610C. It will be appreciated that any suitable number of battery slots 610, such as 8, 9, 10, 12, 15, 25, 50, 100, 200, etc., may be included. In some embodiments, battery slot 610 may not be present in power system 516 or exoskeleton system 100 . Also, while the example of FIG. 6 illustrates one embodiment in which the modular battery set 600 includes four battery units 630A, 630B, 630C, 630D, further embodiments 1, 2, 3, 4, 5, 6 , 7, 8, 9, 10, 12, 15, 25, 50, 100, 200, etc., of any suitable number of battery units 630 may be included. In some embodiments, battery unit 630 may not be present in power system 516 or exoskeleton system 100 .

Further, the example of FIG. 6 shows an embodiment of power system 516 having first and second self-contained batteries 650X, 650Y, which can be permanent or semi-permanent components of power system 516 or exoskeleton system 100. FIG. In contrast to the modular battery unit 630 embodiment, which the user 101 can easily remove and couple to the battery slot 610, various examples of the self-contained battery 650 can be attached to the power system 516 or the exoskeleton system 100. It cannot be easily detached and joined to. For example, in some embodiments, the self-contained battery 650 may be coupled to the power system 516 or the exoskeleton system 100 via screws, bolts, adhesives, or to one of the power system 516 or the exoskeleton system 100. Physical damage to power system 516 or exoskeleton system 100 is required to extract self-contained battery 650, as it may be physically integrated with or located within a portion thereof.

Accordingly, the self-contained battery 650 of various embodiments is configured to be easily and quickly removable without tool assistance, substantial labor, or damage to the power system 516 or portions of the exoskeleton system 100. Although not shown, the various embodiments of the modular battery unit 630 can be easily and securely attached to the battery slot 610 without tool assistance, substantial work, or damage to the power system 516 or portions of the exoskeleton system 100 . It will be clear that they can be quickly removed and connected. For example, in some embodiments, the internal battery 650 is discharged and charged only while it is coupled to the power system 516 or the exoskeleton system 100 and is never replaced or the internal battery During the construction of components such as those that are intended to be replaced only infrequently, such as when 650 becomes stuck or fails to properly hold charge, internal battery 650 It can be installed in the power system 516 or the exoskeleton system 100 . In contrast, various embodiments of modular battery unit 630 may be configured to be charged while coupled to battery slot 610 or disconnected from battery slot 610, many times. It may be configured to be easily and quickly coupled to and removed from battery slots 610 .

Also, while the example of FIG. 6 illustrates one embodiment where power system 516 includes two self-contained batteries 650, further embodiments include 1, 2, 3, 4, 5, 6, 7, 8, 9. , 10, 12, 15, 25, 50, 100, 200, etc., may be included. In some embodiments, internal battery 650 may not be present in power system 516 or exoskeleton system 100 . Additionally, in some examples, one or more of the self-contained batteries 650 may include or be defined by a capacitor.

Batteries (eg, battery unit 630 and self-contained battery 650) can be placed in various suitable locations on exoskeleton device 100 and/or can be carried by user 101 in various suitable manners. . For example, in some embodiments, the battery and/or battery slot 610 may be connected to a belt (eg, worn around the waist of user 101), backpack 155, straps of backpack 155, bandolier, actuation unit 110 (eg, , upper arm 115 and/or lower arm 120), clothing such as helmets, shoes or boots, pants or jackets, body armor, bodypacks, and the like. For example, in some embodiments, the exoskeleton device 100 and the exoskeleton device 100 can be configured to provide weight distribution, easy access to the battery unit 630, battery protection, heat dissipation, proximity to powered elements, and the like. /or It may be desirable to distribute the batteries around the user's 101 body. In some embodiments, the batteries are arranged on the respective actuation units 110L, 110R to provide weight balance, so if it is desired that the weight of the batteries be carried by the exoskeleton device 100 instead of the user 101 There is

Further, as shown in the example of FIG. 6, power system 516 may include power cord 670 , which may include cord 671 and plug 672 . In various embodiments, the power cord 670 can be configured to couple with a power source external to the exoskeleton system 100, as this external power source can power the exoskeleton system 100. , using this power source to power various components of the exoskeleton system 100, charge one or more modular battery units 630, charge one or more self-contained batteries 650, etc. can be done. For example, plug 672 can be configured to mate with a conventional power receptacle on a building, vehicle, or other external power source. Further embodiments can be configured to derive power from portable generators, vehicle power sources, boat power sources, aircraft power sources, solar power, hydro power, wind power, fuel cells, and the like. Also, while the example of FIG. 6 shows one embodiment where the power system 516 includes one power cord 670, further embodiments may include any suitable number of power cords 670 or may include power cords 670. need not be in power system 516 or exoskeleton system 100 .

With such architecture in some examples, the user 101 can perform a duration of It becomes possible to connect an additional battery unit 630 in view of the long activity of the . In one embodiment, a user 101 of a powered wearable robotic knee system (eg, exoskeleton system 100) can reliably access an additional battery unit 630 for intermittent use around the home, thus requiring a single A battery unit 630 can be connected. Then, for use of the same powered wearable robotic knee system while outside the home, the user 101 would connect three battery units 630 to the power system 516 to triple the battery capacity and power the wearable robotic knee system. can extend the duration of the action.

For example, referring to the embodiment of FIG. 6, user 101 may connect first battery unit 630A to power system 516, as shown in FIG. Additional battery units to replace the first battery unit 630A (e.g., in the first slot 610A or in the second or third slots 610B, 610C) when lacking sufficient power to supply 630B, 630C, 630D are available. However, if the user 101 wants to extend the working time of the exoskeleton system 100 without having to replace or add an additional battery unit 630 to the exoskeleton system 100, the user can install the battery unit 630 into the three battery slots 610A. , 610B, 610C. Such a configuration is desirable if the user 101 desires a longer duration that the exoskeleton system can operate without having to interact with the power system 516 or separately carry an additional battery unit 630. Sometimes.

In some instances, it may be desirable to be able to power a minimal set of performance features of exoskeleton system 100 with a minimal set of batteries. Using FIG. 6 as an example, a minimal set of batteries can be built without any battery unit 630 coupled to power system 516 and without internal batteries 650A, 650B or one battery unit 630 coupled to power system 516. Self-contained batteries 650A, 650B, etc. may also be included. In embodiments in which power system 516 does not have an internal battery 650 , a minimal set of batteries may be a single battery unit 630 coupled to power system 516 .

However, exoskeleton system 100 or user 101 may choose to use the additional battery power beyond such a minimum performance feature set in various ways. In one embodiment, exoskeleton system 100 can use such additional on-board battery power to extend the duration of operation for a minimal performance feature set for additional periods of time (e.g., additional The same amount of power can be consumed for a longer duration based on the additional power provided by the battery unit).

In another embodiment, the ability of the exoskeleton system 100 to use the added battery capacity allows the system 100 to consume more battery capacity while the exoskeleton system 100 is in use. In one exemplary embodiment of the exoskeleton system 100, where the power system 516 does not have a self-contained battery 650 (see FIG. 6) and three slots 610 for three modular battery units 630, the exoskeleton The system 100 can increase the power limit of the power allowed to be drawn by the motors or actuators of the exoskeleton system 100 based on the number of modular battery units 630 coupled to the power system 516. For example, three battery units 630 in three slots 610 can be used to increase the maximum command current allowable to the system's motors by up to 50%, doubling the operating duration of the exoskeleton system 100. can.

In yet another embodiment, the exoskeleton system 100 can utilize the additional power of three battery units 630 in three slots 610 for a low power configuration of only one battery unit 630 in one slot 610. It can be used by increasing the set of auxiliary operations available compared to the set of auxiliary operations. In such embodiments, the exoskeleton system 100 can be targeted for assistance in sit-to-stand maneuvers when one battery unit 630 is installed, but when three battery units 630 are installed. If present, the exoskeleton system 100 can provide additional assistance during the stance phase during walking and stair climbing. Although these embodiments may include using additional power by any combination of increased duration and/or increased power capacity as desired over any selection of desired actions or system capacity, It is not limited to this. Embodiments such as those can be applied to power system 516 including any suitable number of modular battery units 630 and/or self-contained batteries 650 .

Embodiments also reduce the set of auxiliary operations until there is no behavior of interest, and a single battery (eg, a single battery unit 630 or a self-contained battery 650) powers the power system 516, exoskeleton device 610, or may include structures that are used only to maintain the operation of some of them. For example, a single battery or a minimal set of batteries would simply provide minimal power to the system, but the exoskeleton system 100 would be able to power the user's movements until additional modular batteries 630 were coupled to the power system 516 . do not support

In various embodiments, a method of operating exoskeleton system 100 includes determining, by exoskeleton device 510, the power configuration of exoskeleton system 100 defined at least in part by the number of batteries coupled to power system 516. and configuring operating parameters of the exoskeleton system 100 based at least in part on the determined power configuration of the exoskeleton system 100 . The exoskeleton device 510 monitors the configuration of the batteries coupled to the power system 516 and the charge capacity of the batteries coupled to the power system 516 and alters the operating parameters of the exoskeleton system 100 based on any changes. be able to.

For example, the power configuration may be the charge of one or more batteries, the voltage associated with one or more batteries, the current associated with one or more batteries, or the number of batteries physically coupled to power system 516. can be determined based on various data such as The number of batteries physically coupled to power system 516 identifies the physical coupling between the batteries and power system 516 (eg, the physical coupling between battery unit 630 and battery slot 610). A switch, a switch that identifies a non-zero amount of current at a given location (eg, one or more battery slots 610) can be determined in any suitable manner. Determining the number of batteries coupled to power system 516 can include modular battery units 630 and/or self-contained batteries 650 . In addition, in some embodiments, the exoskeleton system 100 provides battery serial number, battery type, battery voltage, battery current, battery maximum charge capacity, current battery state of charge, battery health state (e.g., operational Is it broken?), etc., can be configured to obtain various types of data about the battery via physical or wireless communication.

The operating parameters of the exoskeleton system 100 include the number of modular battery units 630 coupled to the power system 516, the number of self-contained battery units 650 coupled to the power system 516, one or more batteries coupled to the power system 516. can be selected based on a variety of power conditions, including one or more of the individual state of charge of the power supply system 516, the overall state of charge of one or more batteries coupled to the power system 516, and the like. Operating parameters of the exoskeleton system 100 that can be configured based on power states such as a set of available auxiliary operations, a set of unavailable auxiliary operations, maximum power for one or more auxiliary operations, Outputs can include whether or not to power one or more actuators, whether or not to draw power from a given battery, and the like.

In some examples, changes in operating parameters based on changes in batteries coupled to power system 516 may occur immediately or may occur with a delay. For example, as discussed below, if the user is hot-swapping a battery, the exoskeleton device 100 can maintain the current set of operating parameters for a predetermined period of time, thereby allowing the user 101 to use the battery unit 630 can be removed and replaced.

In some examples, it may be beneficial to allow battery unit 630 to be safely replaced by user 101 without powering off exoskeleton system 100 . In various examples, this is referred to as a "hot swap" of the battery, where the battery unit 630 remains connected to the power supply system 516 so that power remains applied to the battery unit, and the new battery unit 630 can be replaced later. , the exoskeleton system 100 starts using the new battery unit by being connected while maintaining the operation of the exoskeleton system 100 .

In one embodiment, this is accomplished by powering the exoskeleton system 100 with a set of multiple battery units 630 (see, eg, FIG. 6). In such embodiments, the power system 516 provides multiple coupled It can be configured to allow one or more of battery units 630 to be removed from power system 516 . In another embodiment, when one or more of the plurality of coupled battery units 630 are removed from power system 516, exoskeleton system 100 remains fully operational (e.g., exoskeleton device 510 and pneumatic Power system 516 is designed so that it can provide high power operation to user 101 (while system 520 remains powered and active). For example, in one particular embodiment, wearable robotic exoskeleton system 100 has two battery units 630 connected to power system 516, and user 101 disconnects one of battery units 630 before A new battery unit 630 can be reconnected without interrupting power access to the skeletal device 100 . In various embodiments, uninterrupted access to power means that the exoskeleton system 100 continues to operate in the same way, or that the exoskeleton system 100 has predetermined operating conditions within each individual battery configuration. However, it is not limited to these.

In yet another embodiment, the batteries can be configured as shown in the example of FIG. 6, where one or more battery units 630 are accessible and removable by the user 101 and one or more The user 101 cannot access the built-in battery 650 of the . In various examples, some or all of one or more battery units 630 can be removed from power system 516, and one or more self-contained batteries 650 are used to maintain operation of exoskeleton system 100 for a period of time. can do.

In various embodiments, only a subset of the batteries coupled to the power system can be used at any given time. In some embodiments, some batteries can be considered primary, secondary, tertiary, or backup batteries. For example, in one embodiment, one or more on-board batteries 650 are not used to power the exoskeleton system 100 in various operating conditions, and one or more battery units 630 are removed. When being replaced (eg, hot-swapped), when the battery units 630 are not coupled to the power supply system 516, when one or more of the battery units 630 run out of their power, become stuck, or malfunction. Power is drawn from one or more internal batteries 650 such as these only when a steady power supply is provided.

For example, in some embodiments, backup power can be stored in the device and not consumed during normal operation. However, if the user indicates or the exoskeleton system 100 detects an emergency need for the exoskeleton system 100 to operate when another power source is not available or is not desired to be used, exoskeleton system 100 The system can utilize this emergency backup power to provide full or limited operation for a limited time. In such embodiments, the exoskeleton system 100 may indicate that it has exhausted its power supply for normal operation, even though it still has emergency backup power available. Systems and methods for achieving this emergency back-up power can vary significantly, such as storing a predetermined percentage of the central battery or a separate secondary battery that is not depleted during normal operation. Note that this can include, but is not limited to, one or both of having

In various embodiments, it may be advantageous to integrate battery unit 630 and/or self-contained battery 650 into the mechanical system of exoskeleton system 100 in various ways. In one embodiment, the one or more self-contained batteries 650 are mechanically integrated within structures such as one or more actuator units 110, exoskeleton devices 510, pneumatic systems 520, and so on. One or more internal batteries 650 are not accessible to user 101 . In some examples (see, eg, FIG. 6), there are two self-contained batteries 650 integrated within the structure of exoskeleton system 100 . Another embodiment may include batteries that are all external to the structure of the exoskeleton system 100 . In one such case, the mechanical system of exoskeleton system 100 can be encapsulated, with one or more exterior-facing battery slots 610 allowing user 101 to select a number of batteries for the intended application. It becomes possible to connect the battery unit 630 . In yet another embodiment, exoskeleton system 100 includes a combination of a mechanically integrated battery (eg, internal battery 650) and an externally connected battery unit (eg, battery unit 630). Various embodiments can include, but are not limited to, any combination of internally configured battery units and externally configured battery units as discussed herein.

In some embodiments, it may be beneficial to have various specific configurations that individual batteries are designed to connect to. In one embodiment, the wearable robotic exoskeleton system 100 includes a self-contained battery 650 and a battery modular unit 630 coupled to the exterior of the exoskeleton system 100 hardware via a battery slot 610 . In such an embodiment, the self-contained battery 650 meets the more stringent requirements of air travel such that only one battery is required for the exoskeleton system 100 to operate within Federal Aviation Administration (FAA) guidelines. can be designed to meet The external battery unit 630 can be sized fairly large so that the exoskeleton system 100 can operate all day long. As a result, the user 101 can disconnect the external battery unit 630, stay within the specifications required for operation while onboard the aircraft under FAA regulations, and reconnect the external battery unit 630 after the flight to maintain normal operation. Assistance can be provided throughout the day.

For example, FAA regulations limit lithium metal (non-rechargeable) batteries to 2 grams of lithium per battery and lithium ion (rechargeable) batteries to a 100 watt-hour (Wh) rating per battery. can claim to be done. However, passengers may carry up to two spare large lithium-ion batteries (101-160 Wh) or lithium metal batteries (2-8 grams). In various embodiments, in accordance with FAA regulations, the exoskeleton system 100 may be suitably used in flight to provide additional capacity to the exoskeleton system 100 during or after flight, although additional capacity during flight may be appropriate. It may be desirable for exoskeleton power system 516 and/or battery system set 600 to comply with FAA regulations so that it can also carry a backup battery.

For example, one embodiment includes a first self-contained and/or removable battery (eg, self-contained battery 650 or battery unit 630) limited to a 100 Watt-hour (Wh) rating and 101-160 Wh each can include one or two spare battery units 630 with ratings such as less than 160 Wh during Further embodiments may include any suitable plurality of spare battery units 630 each having a rated value between 101 and 160 Wh, less than 160 Wh, and so on.

Further embodiments are by commercial airline travel, private airline travel, military airline operations, air flight batteries and related systems, and various vehicles such as boats, ships, trains, public transportation, and space travel. It can be configured to comply with one or more applicable laws of various jurisdictions regarding transportation of batteries in various scenarios, such as travel.

For example, according to the European Aviation Safety Agency (EASA), primary batteries (e.g., self-contained battery 650 or battery unit 630) must not exceed a Watt-hour rating of 100 Watt-hours (Wh) or a lithium content of 2 grams. (the first limit is for rechargeable lithium ion batteries and the second limit is for lithium metal batteries that are not normally rechargeable). If Wh is higher than 100 but not higher than 160, the user may need airline approval to carry a battery or an exoskeleton system containing a battery. The carriage of any item with batteries greater than 160Wh may be prohibited by EASA regulations. Spare batteries or power banks for the exoskeleton device 100 may be permitted, but EASA regulations state that batteries such as these should never be in checked baggage and/or to prevent short circuits (e.g., terminals may be required to be individually protected (with tape insulated, each battery placed in a plastic bag, or using any other suitable method). be. Limitations on reserve batteries such as those of Wh and lithium content according to EASA regulations may be the same as above for primary batteries.

Various embodiments can be configured to comply with one or more sets of battery shipping regulations, such as those currently in force or hereafter in force. FAA, EASA, European Civil Aviation Conference (ECAC), European Organization for Safety of Air Navigation (EUROCONTROL), International Civil Aviation Organization (IC AO) Regulations of the Joint Aviation Authorities (JAA) and, for example, other relevant authorities, herein incorporated by reference in their entireties for all purposes.

For example, some embodiments include Watt-hour ratings of 50 Watt-hours (Wh), 60 Wh, 70 Wh, 80 Wh, 90 Wh, 100 Wh, 110 Wh, 120 Wh, 130 Wh, 140 Wh, 150 Wh, 160 Wh, 170 Wh, 180 Wh, 190 Wh, 200 Wh, etc. A primary battery (eg, a self-contained battery 650 or battery unit 630) that does not exceed the Some embodiments may include no more than one, no more than two, no more than three, or the like self-contained batteries 650 or battery units 630 . Further, various embodiments have Watt-hour ratings such as 50 Watt-hours (Wh), 60 Wh, 70 Wh, 80 Wh, 90 Wh, 100 Wh, 110 Wh, 120 Wh, 130 Wh, 140 Wh, 150 Wh, 160 Wh, 170 Wh, 180 Wh, 190 Wh, 200 Wh of one or more removable battery units 630 may be included. Some embodiments may include no more than one, no more than two, no more than three battery units 630, and so on. Further, battery capacity may be expressed in any suitable manner, including battery voltage, such as in ampere hours (Ah).

In another embodiment, the exoskeleton system 100 can have two sizes of external battery units 630 that are sized to support four and eight hours of normal operation, respectively. be done. In such cases, the user can select the battery unit 630 that he wishes to connect to the system based on the specifications of his desired application. The configuration of the battery and/or power system 516 may be altered based on various suitable factors including total amount of stored energy, total amount of battery cells, total mass, total amount of dischargeable current, duration of operation, and the like. Note that you can

In some cases, it may be beneficial to assume power usage from the battery in a certain way. In one embodiment, a battery management system (e.g., that of exoskeleton device 510 or power system 516) couples multiple battery units to power system 516 such that an equal amount of energy is drawn from each battery unit 630. manages the power drawn from 630; In such an embodiment, an exoskeleton system 100 with two battery units 630 installed, both 100% charged, will have 60% charge on both battery units 630 after two hours of operation. , both battery units 630 can be drained evenly.

In another embodiment, power system 516 is removably connected to the exterior of the exoskeleton system via one self-contained battery 650 integrated inside the structure of exoskeleton system 100 and battery slot 610. It can be configured with a battery unit 630 . The battery management system can manage power drawn from the internal battery 650 and the removable external battery unit 630 such that power is drawn from the external battery unit 630 first, in some examples. In such an embodiment, with both the internal battery 650 and the external battery unit 630 initially charged to 100%, the exoskeleton system 100 will charge the external battery unit 630 to 20% after two hours of operation. Although it can be discharged, the internal battery 650 remains at 100%.

In yet another embodiment, exoskeleton system 100 can be configured to maximize charging of one or more onboard batteries 650 . For example, the battery management system may have a primary or secondary goal of charging an internal battery 650 that is located inside the hardware, with the goal that the internal battery 650 is always fully charged. can have In such embodiments, the exoskeleton system 100 can have the internal battery 650 initially 90% charged and the removable external battery unit 630 initially 100% charged. After two hours of operation, the removable external battery unit 630 can be depleted to 10% charge and the self-contained battery 650 can be charged to 100% and this charge is drawn from the removable external battery unit 630. based on the power of

In another embodiment, one or more battery units 630 and/or one or more self-contained batteries 650 can be charged by an external power source such as, but not limited to, a wall outlet via power cord 670. . This requires only one operation (i.e. plugging in the charger) rather than requiring each battery to be charged individually using one or more separate chargers. can provide the advantage of In such embodiments, when one or more battery units 630 and one or more self-contained batteries 650 are being charged from an external power source, the battery management system on exoskeleton system 100 may Charging the internal battery 650 before 630 can be prioritized.

In addition to one or more battery units 630 and/or one or more self-contained batteries 650 of exoskeleton system 100 being charged by an external power source via power cord 670, in some embodiments such as The battery may be charged or the exoskeleton system 100 may be powered by an external wireless power system. For example, if the exoskeleton system 100 is operated by a user 101 in a warehouse, the warehouse powers the exoskeleton system 100 wirelessly via electromagnetic induction, magnetic resonance, electric field coupling, radio reception, etc. A warehouse-wide wireless charging system can be included. Such embodiments allow the exoskeleton system 100 to operate indefinitely or for long periods of time without the batteries needing to be replaced or charged via an external power source (eg, via power cord 670). It may be desirable to be able to operate.

Another component of some embodiments of the exoskeleton system 100 may be a mobile power pack that provides operating power to one or more operating units 110 of the exoskeleton system 100 . In one preferred embodiment, such a power pack includes a compressor and battery that can be used for the pneumatically operated continuous operation of system 100 . In some examples, the content of such power packs can be strongly correlated to the actuation approach specifically configured for use with a particular embodiment. In some embodiments, the power pack may contain only batteries, which may be suitable for electromechanically operated systems. Various embodiments of power packs can include combinations of the following items: pneumatic compressors, batteries, high pressure retractable pneumatic chambers, hydraulic pumps, pneumatic safety components, electric motors, motor drivers, microprocessors, etc. , but not limited to. For example, in some embodiments, the power pack can include some or all elements of exoskeleton device 510 and pneumatic system 520 .

Components such as the power pack, exoskeleton device 510, power system 516, pneumatic system 520, etc. may be configured on the body of user 101 in any suitable manner. A preferred embodiment includes the power pack, power system 516, or portions thereof, in a fuselage-mounted pack that is not operably coupled to the actuation unit 110 in any manner that imparts substantial mechanical force to the actuation unit 110. to include. In such embodiments, the power pack, power system 516, or portions thereof, are configured to reside within a user-worn shoulder bag that is not substantially mechanically integrated with the actuation unit 110. be able to. Another embodiment includes integrating the power pack, power system 516, or portions thereof within the actuation unit 110 itself. Various embodiments include the following configurations: torso attachment in a backpack; torso attachment in a messenger bag; hip attachment to a bag; leg attachment; Can include, but is not limited to, integration and the like. Separating components such as power packs, power system 516, exoskeleton device 510, pneumatic system 520, and distributing such components in various configurations or locations on user 101 and/or exoskeleton device 100 is also possible. One embodiment may configure the pneumatic compressor on the torso of the user 101 and then integrate the battery into one or more actuation units 110 of the exoskeleton system 100 .

One aspect of the power pack in various examples is that the power pack, or portions thereof, pass operable system power (e.g., electrical power and/or fluid power) to one or more actuation units 110 for operation. It is that it can be connected to one or more actuation units 110 in a way. One preferred embodiment is to use electrical cables to connect the power system 516 and the one or more operating units 110 . Other embodiments may use electrical cables and pneumatic lines 145 to deliver electrical power and pneumatic pressure to one or more actuation units 110 . Various embodiments can include connections for pneumatic hoses, hydraulic hoses, electrical cables, wireless communications, wireless power, and the like.

Some embodiments include secondary features that extend the functionality of cable connections between one or more actuation units 110 and power packs, power systems 516, exoskeleton devices 510, pneumatic systems 520, etc. It may be desirable to include A preferred embodiment includes a retractable cable that is configured to have a low mechanical retention force that maintains the cable taut against the user 101 with less slack remaining in the cable. be. Various embodiments include the following secondary features: retractable cable, single cable containing both fluid and power, magnetically connected electrical cable, mechanical quick release, It can include, but is not limited to, combinations of breakaway connections designed to release, integration into mechanical retaining features on the user's clothing, and the like. Yet another embodiment may involve routing the cables in such a way as to minimize geometrical differences between the user 101 and the cable length. One such embodiment in a two-knee configuration with a torso power pack routes cables along the lower torso of the user 101 to connect the left knee actuation unit 110L to the right side of the power pack bag and the power pack. It may include connecting a right knee actuation unit 110R to the left side of the bag. Such wiring allows for geometric differences in length during use of the exoskeleton system 100 throughout the user's normal range of motion.

One feature that may be of concern in some instances is the need for proper thermal management of the power pack, power system 516, exoskeleton device 510, pneumatic system 520, and the like. As a result, there are various features that can be specifically integrated for the benefit of controlling heat. A preferred embodiment integrates exposed heat sinks into the environment such that power packs, power systems 516, exoskeleton devices 510, pneumatic systems 520, etc. transfer heat directly to the environment through natural cooling using ambient airflow. can be dissipated. Another embodiment directs ambient air through internal air channels into the power pack, power system 516, exoskeleton device 510, pneumatic system 520, etc. to enable internal cooling. Yet another embodiment accomplishes this function by introducing scoops into the power pack, power system 516, exoskeleton device 510, pneumatic system 520, etc. in an attempt to allow airflow through internal channels. Can be extended. Various embodiments include exposed heat sinks directly coupled to high heat components, water or fluid cooling thermal management systems, forced air cooling by the introduction of electric fans or blowers, and externally shielded to prevent direct user contact with the heat sink. It can include heat sinks and the like.

Another aspect of various embodiments of the power pack, power system 516, exoskeleton device 510, pneumatic system 520, etc. is the noise profile during operation of the exoskeleton system 100. FIG. Some embodiments include design modifications, individually or in combination, dedicated to reducing the acoustic profile of the various components of exoskeleton system 100 . One embodiment is to include vibration damping at the installation of any noisy components such as pneumatic compressors. For such an example, if the compressor could be mounted in a power pack box with a series of rubber standoffs, viscoelastic standoffs would be provided between the compressor and the power pack structure to Vibration and noise propagation can be mitigated. Another embodiment is the design of frequency-specific structures that can provide sufficient vibration resistance through a set of target frequencies of interest. Yet another embodiment is to include an internal wiring system for controlling porting of the compressor of pneumatic system 520 . Such an embodiment may include directing the compressor exhaust through the pneumatic system 520 to a designated exhaust port and drawing ambient air from a dedicated intake port on the power pack box. Various embodiments can use, but are not limited to, any collection of the examples presented above.

In a modular configuration, in some embodiments, a single power pack, power system 516, exoskeleton device 510, pneumatic system 520, etc. is provided to support the power requirements of various possible configurations of exoskeleton system 100. may be required to be configured to One preferred configuration is a power pack, power system 516, exoskeleton device 510, pneumatic system 520, etc., which can be in a two-knee configuration or a one-knee configuration (e.g., an external device with one or two actuation units 110). It may be required to power the skeletal system 100). In various embodiments, such power packs, power systems 516, exoskeleton devices 510, pneumatic systems 520, etc., support the power requirements of both configurations and then predictably power in any desired configuration. Power (eg, fluid and/or electrical power) must be properly directed to operate. As discussed herein, various embodiments exist to support an array of possible modular system configurations, such as multiple batteries.

7a, 7b, 8a and 8b, an example leg actuator unit 110 can include a joint 125, a bellows 130, a restraining rib 135, and a base plate 140. FIG. More specifically, Figure 7a shows a side view of the leg actuator unit 110 in the compressed configuration and Figure 7b shows a side view of the leg actuator unit 110 of Figure 7a in the expanded configuration. Figure 8a shows a side sectional view of the leg actuator unit 110 in the compressed configuration and Figure 8b shows a side sectional view of the leg actuator unit 110 of Figure 8a in the expanded configuration.

As shown in FIGS. 7a, 7b, 8a and 8b, the joint 125 can have a plurality of restraining ribs 135 extending from or connected to the joint 125 that surround or abut a portion of the bellows 130. touch. For example, in some embodiments, restraining ribs 135 can abut ends 132 of bellows 130 and can define part or all of base plate 140 against which ends 132 of bellows 130 can bear. However, in some examples, the base plate 140 can be a separate and/or different element than the restraining ribs 135 (eg, as shown in FIG. 1). Additionally, one or more restraining ribs 135 may be positioned between ends 132 of bellows 130 . For example, although FIGS. 7a, 7b, 8a and 8b show one restraining rib 135 positioned between ends 132 of bellows 130, further embodiments include any suitable rib positioned between ends 132 of bellows 130. Any number of restraining ribs 135 may be included, including 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 15, 20, 25, 30, 50, 100, and the like. In some embodiments, constraining ribs may be absent.

As shown in cross-section in FIGS. 8a and 8b, bellows 130 may define a cavity 131 that may be filled with a fluid (eg, air) to expand bellows 130, thereby expanding the bellows 130 as shown in FIGS. 7b and 8b. The bellows can be elongated along the B axis so that the For example, increasing the fluid pressure and/or flow rate at the bellows 130 shown in Figure 7a may cause the bellows 130 to expand to the configuration shown in Figure 7b. Similarly, increasing the fluid pressure and/or flow rate at bellows 130 shown in Figure 8a may cause bellows 130 to expand to the configuration shown in Figure 8b. For clarity, use of the term "bellows" is to describe the components of the actuator unit 110 described and is not intended to limit the geometry of the components. The bellows 130 can be constructed in a variety of shapes including, but not limited to, constant cylindrical tubes, cylinders of varying cross-sectional areas, three-dimensional woven shapes that expand into the shape of defined arcs, and the like. The term "bellows" should not be construed as necessarily including structures with convolutions.

Alternatively, reducing the fluid pressure and/or flow rate of the bellows 130 shown in Figure 7b may cause the bellows 130 to contract to the configuration shown in Figure 7a. Similarly, decreasing the fluid pressure and/or flow rate of bellows 130 shown in FIG. 8b may cause bellows 130 to contract to the configuration shown in FIG. 8a. Such an increase or decrease in pressure or volume of fluid in bellows 130 can be performed by pneumatic system 520 and pneumatic line 145 of exoskeleton system 100 that can be controlled by exoskeleton device 510 (see FIG. 5). .

In one preferred embodiment, bellows 130 is inflatable with air. However, in further embodiments, any suitable fluid may be used to inflate the bellows 130 . For example, gases including oxygen, helium, nitrogen, and/or argon can be used to inflate and/or deflate bellows 130 . In further embodiments, liquids such as water, oil, etc. can be used to inflate the bellows 130 . Additionally, some examples described herein relate to the introduction and removal of fluid from the bellows 130 to alter the pressure within the bellows 130, and additional examples include heating and removing fluid to modify the pressure within the bellows 130. /or cooling can be included.

The restraining ribs 135 can support and restrain the bellows 130, as shown in FIGS. 7a, 7b, 8a and 8b. For example, expanding bellows 130 causes bellows 130 to expand along the length of bellows 130 and bellows 130 also expands radially. Constraining ribs 135 may constrain radial expansion of a portion of bellows 130 . Additionally, as described herein, bellows 130 includes a material that is flexible in one or more directions, and restraining ribs 135 can control the linear direction of expansion of bellows 130 . For example, in some embodiments, without the restraining ribs 135 or other restraining structure, the bellows 130 may extrude or bend off axis uncontrollably such that no adaptive force is applied to the base plate 140 . , the arms 115, 120 do not fit or controllably move. Accordingly, in various embodiments, it may be desirable for constraining ribs 135 to create a consistent and controllable expansion axis B for bellows 130 as bellows 130 expands and/or contracts.

In some examples, the bellows 130 in the contracted configuration can extend substantially beyond the radial edges of the constraining ribs 135 and contract during expansion to close the radial edges of the constraining ribs 135 less. It may extend beyond or less than the radial edge of the restraining rib 135 . For example, FIG. 8a shows a compressed configuration of bellows 130 in which bellows 130 extends substantially beyond the radial edges of compression ribs 135, and FIG. The bellows 130 are shown extending less beyond the radial edges of the ribs 135 .

Similarly, FIG. 9a shows a top view of the compressed configuration of bellows 130, in which bellows 130 extends substantially beyond the radial edge of restraining ribs 135, and FIG. FIG. 10 shows a top view of bellows 130 extending less than the radial edge of restraining rib 135 in the expanded configuration.

Constraining ribs 135 can be configured in a variety of suitable ways. For example, FIGS. 9a, 9b, and 10 show top views of an exemplary embodiment of constraining rib 135, which extends from joint 125 and connects a pair of rib arms with a circular rib ring 137 that defines rib cavity 138. 136 and defines a rib cavity 138 through which a portion of the bellows 130 can extend (eg, as shown in FIGS. 8a, 8b, 9a and 9b). In various examples, one or more of the restraining ribs 135 can be substantially planar elements with rib arms 136 and rib rings 137 disposed in a common plane.

In further embodiments, the one or more restraining ribs 135 can have any other suitable configuration. For example, some embodiments can have any suitable number of rib arms 136, including one, two, three, four, five, and the like. Additionally, rib ring 137 can have a variety of suitable shapes, including one or both of the inner edge defining rib cavity 138 or the outer edge of rib ring 137, and need not be circular.

In various embodiments, constraining ribs 135 direct motion of bellows 130 to a sweep path around some instantaneous center (which may or may not be fixed in space) and/or out of plane. It can be configured to prevent movement of the bellows 130 in undesirable directions, such as buckling. As a result, the number of restraining ribs 135 included in some embodiments may vary depending on the particular geometry and load of leg actuator unit 110 . Examples can range from one constraining rib 135 to any suitable number of constraining ribs 135 . Accordingly, the number of restraining ribs 135 should not be construed as limiting the applicability of the present invention. Additionally, in some embodiments, restraining ribs 135 may be absent.

The one or more restraining ribs 135 can be constructed in various ways. For example, one or more of the restraining ribs 135 may differ in construction on a given leg actuator unit 110 and/or may or may not require attachment to the joint structure 125. be. In various embodiments, restraining ribs 135 can be constructed as an integral part of central rotary joint structure 125 . An exemplary embodiment of such a structure may include a mechanical rotary pin joint, wherein the restraining rib 135 is connected to the joint 125 at one end of the joint 125 and can pivot about the joint 125 . can be attached to the non-extending outer layer of bellows 130 at the other end. In another set of embodiments, constraining rib 135 may be constructed in the form of a single flexure structure that directs motion of bellows 130 throughout the range of motion of leg actuator unit 110 . Another exemplary embodiment uses a flexing restraining rib 135 that is not integrally connected to joint structure 125 but instead is externally attached to a pre-assembled joint structure 125 . Another exemplary embodiment may comprise a restraining rib 125 constructed from a piece of cloth wrapped around the bellows 130 and attached to the joint structure 125, which acts like a hammock to prevent the bellows 130 from restrict and/or guide the movement of There are additional methods available for constructing the restraining ribs 135 that can be used in additional embodiments, including but not limited to linkages connected around joints 125, rotational bending, etc. .

In some examples, a design consideration for constraining ribs 135 may be how one or more constraining ribs 125 interact with bellows 130 to guide the path of bellows 130 . In various embodiments, restraining ribs 135 can be secured to bellows 130 at predetermined locations along the length of bellows 130 . One or more restraining ribs 135 may be coupled to bellows 130 in any suitable manner including, but not limited to, sewing, mechanical clamping, geometric interference, direct integration, and the like. In other embodiments, the restraining ribs 135 can be configured such that the restraining ribs 135 float along the length of the bellows 130 and are not fixed to the bellows 130 at predetermined connection points. In some embodiments, constraining ribs 135 can be configured to limit the cross-sectional area of bellows 130 . Exemplary embodiments can include a tubular bellows 130 attached to restraining ribs 135 having an elliptical cross-section, which in some instances stretches the width of the bellows 130 at that location when the bellows 130 is expanded. It may be a contracting configuration.

The bellows 130 may have various functions in some embodiments, including containing the actuation fluid of the leg actuator unit 110, resisting forces associated with actuation pressure of the leg actuator unit 110, and the like. can. In various examples, the leg actuator unit 110 can operate with fluid pressure above, below, or near ambient pressure. In various embodiments, bellows 130 expands beyond what is desired when pressurized above ambient pressure (e.g., in a direction other than the intended direction of force application or movement). One or more flexible but non-stretchable or substantially non-stretchable materials can be included to resist stretching (more than what can be stretched). Additionally, bellows 130 can include an impermeable or semi-impermeable material to contain the actuator fluid.

For example, in some embodiments, bellows 130 can comprise a flexible sheet material such as woven nylon, rubber, polychloroprene, plastic, latex, fabric, or the like. Accordingly, in some embodiments, bellows 130 is made of a flat material that is substantially inextensible along one or more planar axes of the flat material while being flexible in other directions. be able to. For example, FIG. 12 shows a side view of a planar material 1200 (eg, a fabric) that is substantially inextensible along an axis X coinciding with the plane of the material, but along an axis Z. It is flexible in other directions, including. In the example of FIG. 12, material 1200 is shown to bend upward and downward along the Z-axis, but be non-stretchable along the X-axis. In various embodiments, material 1200 can also be non-stretchable along axis Y (not shown), which is also coincident with the plane of material 1200, such as axis X, and perpendicular to axis X.

In some embodiments, bellows 130 can be made of a non-planar woven material that is non-stretchable along one or more axes of the material. For example, in one embodiment, bellows 130 may comprise a woven tube. The woven material can provide circumferential stretch along the length of the bellows 130 . Such embodiments can still be configured to follow the body of the user 101 and align with the axis of the desired joint of the body 101 (eg knee 103).

In various embodiments, the bellows 130 can generate the resulting force by using a constrained inner surface length and/or an outer surface length that are constrained distances from each other (e.g., due to the non-stretchable materials mentioned above). In some examples, such a design allows the actuator to contract at the bellows 130, but when pressurized to a certain threshold, the bellows 130 pushes against the plate 140 of the leg actuator unit 110, thereby , forces can be directed axially because the bellows 130 cannot extend its length beyond the maximum length defined by the body of the bellows 130, so that the bellows 130 can expand its volume further. Because you can't.

In other words, the bellows 130 can include a substantially non-stretchable textile envelope defining a chamber, the chamber being contained within the substantially non-stretchable textile envelope, the fluid impermeable Fluid impermeability is provided by a fluid impermeable structure incorporated within the bladder and/or substantially non-stretchable textile envelope. The substantially non-stretchable woven envelope provides a predetermined geometry and a mechanical stop upon pressurization of the chamber to prevent excessive displacement of the substantially non-stretchable woven actuator. can have a non-linear equilibrium state with a displacement of

In some embodiments, the bellows 130 can include an envelope that is a non-stretchable fabric (e.g., a non-stretchable fabric) that can define various suitable motions as discussed herein. knitted, woven, nonwoven, etc.). The inextensible textile bellows 130 can be designed with a particular equilibrium (eg, final state or shape that remains stable despite increasing pressure), pressure/stiffness ratio, and motion path. The non-stretchable woven bellows 130 in some instances are configured to accurately transmit large forces, as the non-stretchable material allows for better control of force directionality. can be done.

Accordingly, some embodiments of the non-stretchable textile bellows 130 can have a predetermined geometry that results in a relatively increased pressure inside the chamber. The geometry between the unexpanded shape and its equilibrium predetermined geometric shape (e.g., fully expanded shape) due to the displacement of the textile envelope, not through the stretching of the textile envelope while inflated. Displacement occurs primarily through changes in target shape. In various embodiments, this can be accomplished by using a non-stretchable material in the construction of the bellows 130 envelope. As described herein, in some examples, "non-extensible" or "substantially non-extensible" means 10% or less, 5% or less, or 1% can be defined as expansion up to:

11a shows a cross-sectional view of a pneumatic actuator unit 110 including a bellows 130 according to another embodiment, and FIG. 11b shows a side view of the pneumatic actuator unit 110 of FIG. 11a in an expanded configuration showing the cross-section of FIG. 11a. . As shown in FIG. 11a, the bellows 130 can include an inner first layer 132 defining a bellows cavity 131 and an outer outer layer 134 having a third layer 134 disposed between the first layer 132 and the second layer 133. A second layer 133 may be included. Throughout this description, the use of the term "layer" to describe the structure of bellows 130 should not be considered limiting of design. The use of "layer" can refer to various designs including, but not limited to, flat sheets of material, wet films, dry films, rubberized coatings, co-molded structures, and the like.

In some examples, the inner first layer 132 can comprise a material that is impermeable or semi-permeable to the actuator fluid (e.g., air), and the outer second layer 133 is described herein. It can include a non-stretching material that For example, as discussed herein, an impermeable layer can refer to an impermeable or semi-permeable layer, and a non-stretchable layer can refer to a non-stretchable or substantially non-stretchable layer.

In some embodiments that include more than one layer, the inner layer 132 is a non-stretching outer second layer 133 such that internal forces can be transferred to a high-strength, non-stretching outer second layer 133 . can be slightly larger than One embodiment includes a bellows 130 having a woven nylon braid as an impermeable polyurethane polymer film inner first layer 132 and an outer second layer 133 .

The bellows 130 can be constructed in a variety of suitable ways in further embodiments, including a single layer design that imparts fluid impermeability and is constructed of materials that are sufficiently inextensible. can. Other examples include composite bellows assemblies that include multiple laminate layers secured together in a single structure. In some instances, it may be necessary to limit the height of the retracted stack of bellows 130 in order to maximize the range of motion of leg actuator unit 110 . In such instances, it may be desirable to select a woven fabric with a reduced thickness that meets the needs of the other capabilities of the bellows 130 .

In yet another embodiment, it may be desirable to reduce friction between the various layers of bellows 130 . In one embodiment, this can include integrating a third layer 134 that acts as a wear resistant and/or low friction intermediate layer between the first layer 132 and the second layer 133 . Other embodiments alternately or additionally include, but are not limited to, using multiple layers of wet lubricants, dry lubricants, or low-friction materials between the first layer 132 and the second layer 133. Friction can be reduced. Thus, while the example of FIG. 9a shows one example of a bellows 130 including three layers 132, 133, 134, further embodiments include 1, 2, 3, 4, 5, 10, 15, 25, etc. , bellows 130 having any suitable number of layers. Such one or more layers can be partially or wholly joined together along adjacent planes, some examples defining one or more cavities between the layers. In such instances, materials such as lubricants or other suitable fluids can be placed in such cavities, or such cavities can be effectively emptied. Additionally, as described herein, one or more layers (e.g., third layer 134) need not be sheets or flat layers of material as shown in some examples; can include a layer defined by a fluid. For example, in some embodiments, third layer 134 may be defined by a wet lubricant, dry lubricant, or the like.

The expanded shape of bellows 130 may be important to the operation of bellows 130 and/or leg actuator unit 110 in some embodiments. For example, the expanded shape of bellows 130 can be influenced by the design of both the impermeable and non-stretchable portions of bellows 130 (eg, first layer 132 and second layer 133). In various embodiments, it may be desirable to construct one or more of layers 132, 133, 134 of bellows 130 from various two-dimensional panels that may not be intuitive in a contracted configuration.

In some embodiments, one or more impermeable layers can be disposed within bellows cavity 131 and/or bellows 130 can be made of a material (e.g., and a fluid impermeable first inner layer 132). Bellows 130 may comprise a flexible, elastic or deformable material operable to expand and contract when bellows 130 is expanded or contracted as described herein. In some embodiments, the bellows 130 can be biased toward a collapsed configuration and tends to return to the collapsed configuration when the bellows 130 is resilient and uninflated. Further, while the bellows 130 shown herein are configured to expand and/or elongate when inflated with a fluid, in some embodiments the bellows 130 is inflated with a fluid in some instances. It can be configured to shorten and/or contract when. Also, the term "bellows" as used herein should not be construed as limiting in any way. For example, the term "bellows" as used herein should not be construed to require elements such as convolutions or other such features (in some embodiments, the convoluted bellows 130 can exist). As described herein, the bellows 130 can take various suitable shapes, sizes, proportions, and the like.

This example should not be construed as limiting, as the bellows 130 can vary widely across different embodiments. One preferred embodiment of bellows 130 includes a fabric-based pneumatic actuator configured to provide the knee extension torques described herein. Variations on this embodiment may exist to tailor the actuator to provide desired performance characteristics of the actuator, such as a non-uniform cross-section fabric actuator. Other embodiments may use electromechanical actuators, which may be configured to apply flexion and extension torques to the knee instead of or in addition to fluid bellows 130. can be done. Various embodiments can include designs that incorporate a combination of electromechanical, hydraulic, pneumatic, electromagnetic, or electrostatic for positive or negative power assist in extension or flexion of the lower extremity joint. , but not limited to.

Also, the bellows 130 of the actuator can be in various positions as required by the particular design. One embodiment positions the bellows 130 of the powered knee brace component along the axis of the knee joint and positioned parallel to the joint itself. Various embodiments include, but are not limited to, actuators configured in-line with the joint, actuators configured anterior to the joint, and actuators configured to rest about the joint.

Various embodiments of bellows 130 can include secondary features that enhance actuation motion. One such embodiment includes user adjustable mechanical hard end stops to limit the allowable range of motion for the bellows 130 . Various embodiments include the following extension features: inclusion of flexible endstops; inclusion of electromechanical brakes; inclusion of electromagnetic brakes; inclusion of magnetic brakes; including, but not limited to, the inclusion of switches that engage and disengage, or the inclusion of quick releases that allow for quick replacement of actuator components.

In various embodiments, the bellows 130 is described in related U.S. Patent Application Publication No. 14/064,071, filed Oct. 25, 2013, issued as U.S. Patent No. 9,821,475. U.S. Patent Application Publication No. 15/15/2017, filed November 27, 2017, as described in U.S. Patent Application Publication No. 14/064,072, filed October 25, 2013, such as 823,523 or as described in U.S. Patent Application Publication No. 15/472,740 filed March 29, 2017, and/or a bellows system be able to.

In some applications, the design of fluidic actuator unit 110 may be adjusted to extend its capabilities. One example of such modification may be made to adjust the torque profile of the rotational configuration of fluid actuator unit 110 such that the torque varies with the angle of joint structure 125 . To accomplish this, in some examples, the cross-section of bellows 130 can be manipulated to force a desired torque profile of overall fluid actuator unit 110 . In one embodiment, the diameter of bellows 130 can be reduced at the longitudinal center of bellows 130 to reduce overall force capability when bellows 130 is fully extended. In yet another embodiment, the cross-sectional area of bellows 130 can be varied to induce desired buckling behavior such that bellows 130 does not assume an undesired configuration. In the exemplary embodiment, the end configuration of bellows 130 in the rotating configuration is nominally 130 to provide the end of bellows 130 to buckle under load until it extends beyond a predetermined joint angle of actuator unit 110 . It can have an end area slightly reduced from the diameter, at which point the shorter diameter end of bellows 130 begins to expand.

In other embodiments, this same capability can be developed by modifying the behavior of the restraining ribs 135 . As an illustrative embodiment, using the same example of bellows 130 described in the previous embodiment, two restraining ribs 135 are placed along the length of such bellows 130 at evenly distributed locations. 130 can be fixed. In some examples, the goal of resisting partially expanded buckling can be addressed by closing the bellows 130 in a controlled manner when the actuator unit 110 closes. The restraining ribs 135 approach the joint structure 125 but cannot approach each other until they bottom out against the joint structure 125 . This allows the central portion of bellows 130 to remain fully inflated, which in some instances may be the strongest configuration of bellows 130 .

In further embodiments, it may be desirable to optimize the angles of the fibers of the individual braids or weaves of bellows 130 in order to tune the particular performance characteristics of bellows 130 (e.g., if bellows 130 is braided or woven). (in examples involving the inelasticity imparted by ). In other embodiments, the shape of the bellows 130 of the actuator unit 110 can be manipulated to allow the robotic exoskeleton system 100 to operate with different characteristics. Exemplary methods for such modification can include, but are not limited to: That is, using smart materials on the bellows 130 to manipulate the mechanical behavior of the bellows 130 on command; 130 geometrical mechanical modifications.

As a further example, the fluid actuator unit 110 can include a single bellows 130 or a combination of multiple bellows 130, each having its own composition, structure, and geometry. For example, some embodiments can include multiple bellows 130 arranged parallel or concentrically on the same joint assembly 125 that can be engaged as needed. In one exemplary embodiment, the joint assembly 125 can be configured with two bellows 130 arranged in parallel and directly adjacent to each other. System 100 selectively chooses to engage each bellows 130 as needed to allow varying amounts of force to be output by the same fluid actuator unit 110 in a desired mechanical configuration. can.

In further embodiments, the fluid actuator unit 110 can be used to directly or indirectly estimate the pressure, force or strain of the bellows 130 or other parts of the fluid actuator unit 110. Various suitable sensors may be included for measuring mechanical properties of other portions of the . Some examples are fluid actuators, with some embodiments having difficulties associated with integrating certain sensors into a desired mechanical configuration, while others are more suitable. A sensor located in unit 110 may be desirable. Such sensors of fluidic actuator unit 110 can be operably connected to exoskeleton device 610 (see FIG. 6), and exoskeleton device 610 uses data from such sensors of fluidic actuator unit 110. to control the exoskeleton system 100 .

As described herein, various suitable exoskeleton systems 100 can be used in various suitable ways and for various suitable applications. However, such examples should not be construed as limiting the wide variety of exoskeleton systems 100 or portions thereof that are within the scope and spirit of this disclosure. Accordingly, exoskeleton systems 100 that are somewhat more complex than the examples of FIGS. 1-5 are within the scope of this disclosure.

Moreover, while various examples relate to the exoskeleton system 100 in relation to the legs or lower body of a user, further examples may relate to any suitable portion of the user's body, including torso, arms, head, legs, etc. . Also, while various examples relate to exoskeletons, it should be clear that the present disclosure is applicable to other similar types of technology, including prosthetics, endografts, robotics, and the like. Further, while some examples may relate to human users, other examples may relate to animal users, robot users, various forms of machines, and the like.

Embodiments of the present disclosure can be described in view of the following clauses.
Clause 1. an exoskeleton system,
A left leg actuator unit and a right leg actuator unit configured to be coupled to a user's left leg and right leg, respectively, comprising:
An upper arm and a lower arm rotatably coupled via a joint, the joint being coupled to the user's knee and the upper arm around the user's thigh above the knee. said upper arm and said lower arm positioned in a state and with said lower arm coupled around said user's lower leg below said knee;
a bellows actuator extending between the upper arm and the lower arm; one or more sets of fluid lines that move the lower arm;
the left leg actuator unit and the right leg actuator unit, each comprising
operably coupled to the bellows actuators of the left leg actuator unit and the right leg actuator unit via the one or more sets of fluid lines of the left leg actuator unit and the right leg actuator unit; , a pneumatic system configured to inject a fluid;
An exoskeleton device comprising a processor and memory, wherein the memory stores instructions which, when executed by the processor, cause the bellows actuators of the left leg actuator unit and the right leg actuator unit to the exoskeleton device configured to control the pneumatic system to inject fluid;
A power system that supplies power to the pneumatic system and the exoskeleton device,
a first battery slot, a second battery slot and a third battery slot;
A first self-contained battery and a second self-contained battery, said first self-contained battery being a permanent or semi-permanent part of said power system such that it cannot be easily removed and coupled to said power system. a battery and said second self-contained battery, and a power cord configured to couple to a building receptacle and obtain power from said receptacle;
the power system, comprising:
A modular battery set comprising a modular first battery unit, a second battery unit, a third battery unit and a fourth battery unit, the modularity comprising the first battery unit, the second battery unit, Any one of the third battery unit and the fourth battery unit can be easily and quickly removed and coupled within any one of the first battery slot, the second battery slot and the third battery slot. said modular battery set powering said exoskeleton system when capable of
The exoskeleton system comprising:

Clause 2. Clause 1. Clause 1, wherein the pneumatic system, the exoskeleton device and the power system are located in a backpack configured to be worn by the user while operating the exoskeleton system. exoskeleton system.

Article 3. The power supply system, the first battery slot, the second battery slot and the third battery slot are any one of the first battery unit, the second battery unit, the third battery unit and the fourth battery unit. configured to be hot-swapped,
any one of the first battery unit, the second battery unit, the third battery unit and the fourth battery unit while maintaining the operation of the exoskeleton system without turning off the power of the exoskeleton system; can be safely removed from any of the first battery slot, the second battery slot and the third battery slot;
any one of the first battery unit, the second battery unit, the third battery unit and the fourth battery unit while maintaining the operation of the exoskeleton system without turning off the power of the exoskeleton system; 3. The exoskeleton system of clause 1 or 2, wherein the exoskeleton system can be securely coupled to any of the first battery slot, the second battery slot and the third battery slot.

Article 4. The exoskeleton device is
identifying whether a battery unit is coupled to the first battery slot, the second battery slot and the third battery slot;
identifying a power state of one or more battery units coupled to the first battery slot, the second battery slot and the third battery slot;
configured as
based at least in part on the number of battery units identified as being coupled to the power system via the first battery slot, the second battery slot or the third battery slot; and operating the exoskeleton system based at least in part on the identified power state of the one or more battery units coupled to the first battery slot, the second battery slot, and the third battery slot. 4. The exoskeleton system of any of clauses 1-3, configured to change configuration.

Article 5. an exoskeleton system, one or more leg actuator units configured to be coupled to a leg of a user;
a pneumatic system operably coupled to the one or more leg actuator units and configured to inject fluid;
an exoskeleton device configured to control the pneumatic system to inject fluid into the one or more leg actuator units;
A power system that supplies power to the pneumatic system and the exoskeleton device,
a plurality of battery slots; and one or more self-contained batteries that are permanent or semi-permanent parts of the power system that cannot be easily removed and coupled to the power system. one or more internal batteries,
the power system, comprising:
A modular battery set including a plurality of battery units that are modular, the modularity allowing any of the plurality of battery units to be easily and quickly removed within any of the plurality of battery slots, the modular battery set that, when coupled, powers the exoskeleton system;
The exoskeleton system comprising:

Clause 6. the one or more leg actuator units comprising:
An upper arm and a lower arm rotatably coupled via a joint, the joint being coupled to the user's knee and the upper arm around the user's thigh above the knee. said upper arm and said lower arm positioned in a state and with said lower arm coupled around said user's lower leg below said knee;
a bellows actuator extending between the upper arm and the lower arm; one or more sets of fluid lines that move the lower arm;
The exoskeleton system of clause 5, comprising:

Article 7. the one or more self-contained batteries that are permanent or semi-permanent components of the power system do not exceed a Watt-hour rating of 100 Watt-hours (Wh);
7. The exoskeleton system of clause 5 or 6, wherein each of said plurality of battery units does not exceed a watt hour rating of 160 watt hours (Wh).

Article 8. 8. The power system of any of clauses 5-7, wherein the power system further comprises a power cord, the power cord coupled to a receptacle external to the exoskeleton system and configured to obtain power from the receptacle. exoskeleton system.

Article 9. The exoskeleton system according to any one of clauses 5 to 8, wherein the plurality of battery units includes a first battery unit, a second battery unit, a third battery unit and a fourth battery unit.

Clause 10. 10. The method of clauses 5-9, wherein the pneumatic system, the exoskeleton device and the power system are arranged in a pack configured to be worn by the user while operating the exoskeleton system. An exoskeleton system according to any one of the preceding claims.

Clause 11. wherein the power supply system and the plurality of battery slots are configured such that one of the plurality of battery units is hot-swapped;
any of the plurality of battery units can be removed from any of the plurality of battery slots while maintaining operation of the exoskeleton system without powering off the exoskeleton system;
Any of the plurality of battery units can be coupled to any of the plurality of battery slots while maintaining operation of the exoskeleton system without powering off the exoskeleton system, Clauses 5- 11. The exoskeleton system according to any one of 10.

Clause 12. The exoskeleton device is
identifying whether one battery unit of the plurality of battery units is coupled to any of the plurality of battery slots;
identifying a power state of one or more battery units coupled to at least one of the battery slots;
configured as
The exoskeleton device is based at least in part on the number of identified battery units coupled to the power system via at least one of the plurality of battery slots, and the plurality of battery slots. operational configuration of the exoskeleton system based at least in part on the identified power states of the one or more battery units identified as being coupled to the power system via at least one of 12. The exoskeleton system of any of clauses 5-11, wherein the exoskeleton system is configured to alter the

Article 13. An exoskeleton system including a power system,
the power system powers the exoskeleton system;
one or more battery slots;
A modular battery set including one or more battery units that are modular such that any of the one or more battery units is within any of the one or more battery slots; the modular battery set that can be easily and quickly removed and coupled to power the exoskeleton system;
The exoskeleton system comprising:

Article 14. The exoskeleton system comprises:
one or more joint actuator units configured to be coupled to a user's joint;
a fluid system operably coupled to the one or more joint actuator units and configured to inject fluid;
an exoskeleton device configured to control the fluid system to inject fluid into the one or more joint actuator units;
14. The exoskeleton system of clause 13, further comprising:

Article 15. 15. The exoskeleton system of clause 13 or 14, wherein the power system further comprises one or more self-contained batteries not exceeding a Watt-hour rating of 100 Watt-hours (Wh).

Article 16. 16. The exoskeleton system of any of Clauses 13-15, wherein the one or more battery slots include a first battery slot, a second battery slot and a third battery slot.

Article 17. Clause 13-16, wherein the power system further comprises a power cord, the power cord coupled to a receptacle external to the exoskeleton system and configured to obtain power from the receptacle. exoskeleton system.

Article 18. The one or more battery units includes at least a first battery unit and a second battery unit, the first battery unit not exceeding a Watt-hour rating of 100 Watt-hours (Wh) and the second battery unit not exceeding a 160 Watt-hour rating. 18. The exoskeleton system of any of clauses 13-17, not exceeding a Watt-hour rating in Watt-hours (Wh).

Article 19. wherein the power system and the one or more battery slots are configured such that any of the one or more battery units are hot-swapped;
any of the one or more battery units can be removed from any of the one or more battery slots during operation of the exoskeleton system;
19. The exoskeleton of any of clauses 13-18, wherein any of the one or more battery units can be coupled to any of the one or more battery slots during operation of the exoskeleton system. system.

Clause 20. the exoskeleton system is configured to identify whether one of the one or more battery units is coupled to any of the one or more battery slots;
the exoskeleton system based at least in part on the number of identified battery units coupled to the power system via at least one of the one or more battery slots; 20. The exoskeleton system of any of Clauses 13-19, configured to change the operational configuration of the.

While the described embodiments are susceptible to various modifications and alternative forms, specifics thereof have been shown by way of example in the drawings and are herein described in detail. However, the described embodiments are not to be limited to the particular forms or methods disclosed, on the contrary, it is to be understood that the disclosure includes all modifications, equivalents, and alternatives. Furthermore, elements of a given embodiment should not be construed as being applicable only to that exemplary embodiment, thus elements of one exemplary embodiment may be applicable to other embodiments. be. Moreover, elements specifically shown in exemplary embodiments are to be construed to include embodiments that include, consist essentially of, or consist of such elements, or Such elements may not be explicitly present in further embodiments. Therefore, the description of elements that are present in an example should be construed to support some embodiments in which such elements are expressly absent.

Claims (20)

an exoskeleton system,
A left leg actuator unit and a right leg actuator unit configured to be coupled to a user's left leg and right leg, respectively, comprising:
An upper arm and a lower arm rotatably coupled via a joint, the joint being coupled to the user's knee and the upper arm around the user's thigh above the knee. said upper arm and said lower arm positioned in a state and with said lower arm coupled around said user's lower leg below said knee;
a bellows actuator extending between the upper arm and the lower arm; one or more sets of fluid lines that move the lower arm;
the left leg actuator unit and the right leg actuator unit, each comprising
operably coupled to the bellows actuators of the left leg actuator unit and the right leg actuator unit via the one or more sets of fluid lines of the left leg actuator unit and the right leg actuator unit; , a pneumatic system configured to inject a fluid;
An exoskeleton device comprising a processor and memory, wherein the memory stores instructions which, when executed by the processor, cause the bellows actuators of the left leg actuator unit and the right leg actuator unit to the exoskeleton device configured to control the pneumatic system to inject fluid;
A power system that supplies power to the pneumatic system and the exoskeleton device,
a first battery slot, a second battery slot and a third battery slot;
A first self-contained battery and a second self-contained battery, said first self-contained battery being a permanent or semi-permanent part of said power system such that it cannot be easily removed and coupled to said power system. a battery and said second self-contained battery, and a power cord configured to couple to a building receptacle and obtain power from said receptacle;
the power system, comprising:
A modular battery set comprising a modular first battery unit, a second battery unit, a third battery unit and a fourth battery unit, the modularity comprising the first battery unit, the second battery unit, Any one of the third battery unit and the fourth battery unit can be easily and quickly removed and coupled within any one of the first battery slot, the second battery slot and the third battery slot. said modular battery set powering said exoskeleton system when capable of
The exoskeleton system comprising: 2. The method of claim 1, wherein the pneumatic system, the exoskeleton device and the power system are located within a backpack configured to be worn by the user while operating the exoskeleton system. The exoskeleton system described. The power supply system, the first battery slot, the second battery slot and the third battery slot are any one of the first battery unit, the second battery unit, the third battery unit and the fourth battery unit. configured to be hot-swapped,
any one of the first battery unit, the second battery unit, the third battery unit and the fourth battery unit while maintaining the operation of the exoskeleton system without turning off the power of the exoskeleton system; can be safely removed from any of the first battery slot, the second battery slot and the third battery slot;
any one of the first battery unit, the second battery unit, the third battery unit and the fourth battery unit while maintaining the operation of the exoskeleton system without turning off the power of the exoskeleton system; 2. The exoskeleton system of claim 1, wherein the exoskeleton system can be securely coupled to any of the first battery slot, the second battery slot and the third battery slot. The exoskeleton device is
identifying whether a battery unit is coupled to the first battery slot, the second battery slot and the third battery slot;
identifying a power state of one or more battery units coupled to the first battery slot, the second battery slot and the third battery slot;
configured as
based at least in part on the number of battery units identified as being coupled to the power system via the first battery slot, the second battery slot or the third battery slot; and operating the exoskeleton system based at least in part on the identified power state of the one or more battery units coupled to the first battery slot, the second battery slot, and the third battery slot. 2. The exoskeleton system of claim 1, configured to change configuration. an exoskeleton system,
one or more leg actuator units configured to be coupled to a user's leg;
a pneumatic system operably coupled to the one or more leg actuator units and configured to inject fluid;
an exoskeleton device configured to control the pneumatic system to inject fluid into the one or more leg actuator units;
A power system that supplies power to the pneumatic system and the exoskeleton device,
a plurality of battery slots; and one or more self-contained batteries that are permanent or semi-permanent parts of the power system that cannot be easily removed and coupled to the power system. one or more internal batteries,
the power system, comprising:
A modular battery set including a plurality of battery units that are modular, the modularity allowing any of the plurality of battery units to be easily and quickly removed within any of the plurality of battery slots, the modular battery set that, when coupled, powers the exoskeleton system;
The exoskeleton system comprising: the one or more leg actuator units comprising:
An upper arm and a lower arm rotatably coupled via a joint, the joint being coupled to the user's knee and the upper arm around the user's thigh above the knee. said upper arm and said lower arm positioned in a state and with said lower arm coupled around said user's lower leg below said knee;
a bellows actuator extending between the upper arm and the lower arm; one or more sets of fluid lines that move the lower arm;
6. The exoskeleton system of claim 5, comprising: the one or more self-contained batteries that are permanent or semi-permanent components of the power system do not exceed a Watt-hour rating of 100 Watt-hours (Wh);
6. The exoskeleton system of claim 5, wherein each of the plurality of battery units does not exceed a Watt-hour rating of 160 Watt-hours (Wh). 6. The exoskeleton system of claim 5, wherein the power system further comprises a power cord, the power cord coupled to a receptacle external to the exoskeleton system and configured to obtain power from the receptacle. . 6. The exoskeleton system of claim 5, wherein the plurality of battery units comprises a first battery unit, a second battery unit, a third battery unit and a fourth battery unit. 6. The pneumatic system, the exoskeleton device and the power system are arranged in a pack configured to be worn by the user while operating the exoskeleton system. exoskeleton system. wherein the power supply system and the plurality of battery slots are configured such that one of the plurality of battery units is hot-swapped;
any of the plurality of battery units can be removed from any of the plurality of battery slots while maintaining operation of the exoskeleton system without powering off the exoskeleton system;
6. Any of said plurality of battery units can be coupled to any of said plurality of battery slots while maintaining operation of said exoskeleton system without powering off said exoskeleton system. The exoskeleton system according to . The exoskeleton device is
identifying whether one battery unit of the plurality of battery units is coupled to any of the plurality of battery slots;
identifying a power state of one or more battery units coupled to at least one of the battery slots;
configured as
The exoskeleton device is based at least in part on the number of identified battery units coupled to the power system via at least one of the plurality of battery slots, and the plurality of battery slots. operational configuration of the exoskeleton system based at least in part on the identified power states of the one or more battery units identified as being coupled to the power system via at least one of 6. The exoskeleton system of claim 5, configured to alter the . An exoskeleton system including a power system,
the power system powers the exoskeleton system;
one or more battery slots;
A modular battery set including one or more battery units that are modular such that any of the one or more battery units is within any of the one or more battery slots; the modular battery set that can be easily and quickly removed and coupled to power the exoskeleton system;
The exoskeleton system comprising: The exoskeleton system comprises:
one or more joint actuator units configured to be coupled to a user's joint;
a fluid system operably coupled to the one or more joint actuator units and configured to inject fluid;
an exoskeleton device configured to control the fluid system to inject fluid into the one or more joint actuator units;
14. The exoskeleton system of claim 13, further comprising: 14. The exoskeleton system of claim 13, wherein the power system further comprises one or more self-contained batteries not exceeding a Watt-hour rating of 100 Watt-hours (Wh). 14. The exoskeleton system of claim 13, wherein the one or more battery slots include a first battery slot, a second battery slot and a third battery slot. 14. The exoskeleton system of claim 13, wherein the power system further comprises a power cord, the power cord coupled to a receptacle external to the exoskeleton system and configured to obtain power from the receptacle. . The one or more battery units includes at least a first battery unit and a second battery unit, the first battery unit not exceeding a Watt-hour rating of 100 Watt-hours (Wh) and the second battery unit not exceeding a 160 Watt-hour rating. 14. The exoskeleton system of claim 13, which does not exceed a Watt-hour rating in Watt-hours (Wh). wherein the power system and the one or more battery slots are configured such that any of the one or more battery units are hot-swapped;
any of the one or more battery units can be removed from any of the one or more battery slots during operation of the exoskeleton system;
14. The exoskeleton system of claim 13, wherein any of the one or more battery units can be coupled to any of the one or more battery slots during operation of the exoskeleton system. the exoskeleton system is configured to identify whether one of the one or more battery units is coupled to any of the one or more battery slots;
the exoskeleton system based at least in part on the number of identified battery units coupled to the power system via at least one of the one or more battery slots; 14. The exoskeleton system of claim 13, configured to change the operational configuration of the.

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